I’m doing a velocity control in ODrive s1 using bot wheels.
Now for my scenario if the robot is in a slope and input_vel is 0, then the robot wheel should not rotate and it should stand in the slope. What parameters should change to do my work.?
I would recommend switching to position control in this situation when you need to hold a given position, since velocity control may have some small movement over time. However, with proper tuning of vel_integrator_gain, the velocity error will be very small.