Get the Encoder Estimate

Support
1

I want to get the Encoder Estimate of the ODrive through python but the result of it still 2 although the motor has turn from 2 to 0.

terminal

I have send the message Get Encoder Estimates from my laptop to the ODrive through Canable V2.0, baudrate = 500000.
This is the code I use to send the message Get Encoder Estimates:

code_get_pos
code_get_pos872×591 64.9 KB

And the code I test:

code_test
code_test643×585 50 KB

I want to get the position of the motor to know when it turn completed but the value return not decrease slowly but still 2 when I want the motor from position 2 to 0.
I check with the terminal, the encoder_estimate can return the right value.

2

Do you have any periodic messages configured from the ODrive? If so, you may be filling your CAN adapter’s buffer, and reading very old messages. You can flush the buffer with:

while not (bus.recv(timeout=0) is None): pass

Try doing so right before calling sendGetEncoderEstimate, and see if that helps.