How can I hold position when ControlMode is set to CONTROL_MODE_TORQUE_CONTROL?
My motors have Hall sensors…
You can’t, torque control just outputs a torque. You’d have to use position control, and hall sensors are typically too low resolution to be used for position control with any semblance of stiffness or accuracy.
Maybe you could describe a bit more as to your application and requirements, and we could make a recommendation?
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