How do I use Odrive?

I am the first to try a BLDC motor in my work, and I have never used a motor controller with multiple functions like odrive.
In fact, there was once, but it was a product of my country, so it was easy to use.

Anyway, as a result of examining the odrive docs and source code, I came to the conclusion that odrive is an object, and the odrive library provided in Python is simply a medium that helps connect with odrive.
If I want to use odrive using CPP, can I just open the com port in the source code after connecting and just send a command?
Sorry for the long post. I needed someone to verify that my understanding was correct.