Hey, so I was looking at the schematics and the code and there is one thing that I still don’t quite understand. Maybe I just overlooked something.
ODrive seems to only measure current on two phases. Then it calculates Ialpha and Ibeta in some way. I don’t see how you can get every current vector just from measuring two low side phase currents.
What happens if we actually are between two vectors in such a way, that all the current flows through phase A? We would measure 0A at phase B and C.
Hope someone can explain that to me. Thanks!