Getting control loop values

I am working with Hoverboard motors with external 2400 cpr encoder. We are facing issues with running our bot smoothly. The vel_estimate varies in range of ±0.3 turns/s of the setpoint. Also there is a good overshooting whenever changing setpoints. I now want to analyse the internal variable of control loop like current_integral, voltage_integral, etc. Is it possible to get those values from Odrive. Also any help with the issue would be great.


You can adjust encoder.config.bandwidth and the PI gains for the position & velocity control. You can also adjust motor.current_control_bandwidth to change the current controller PI gains.