Hi, I am trying to set the zero position of my system, using current sensing. My approach is as follows
- Run odrive in velocity control mode in a fixed low velocity
- Monitor the current at the same time. There is a mechanical end limit and when the motors reach there, the current increases.
- when the current increases above a threshold, set the encoder.pos_estimate to 0
I could do steps 1& 2 and can detect the instant when current rises above a threshold. I understand that the encoder.pos_estimate can only be read. I tried using encoder.set_linear_count(0), but somehow calling it rotates the motor incrementally in a direction, without any change reflected in encoder.pos_estimate
Am I doing it the right way. Is there any way to set the encoder.pos_estimate to zero at an arbitrary position through a command. Any help would be appreciated