Is any option can use additional encoder for postion mode?

can I use rotor encoder for current(torque) and vel control,

and use 2nd encoder for position control?

Yes, see controller.config.load_encoder_axis. You an use the other axis’ encoder for position control.


Can you add that info to the docs as well, please. I have asked that a few years back and was 100% sure it is not possible.
Great that it is now!

hi @W_D, this is known as “mirror” mode. See ODrive.Controller.InputMode | ODrive