Pretty new to ODrive here, I’ve been able to issue commands to my stepper motor via the python-native ODriveTool.
However, for development work going forward, I’d ultimately like a C api which both exposes all the functionality of the board and stays in sync with the firmware as new updates are released.
What are the options here?
Your best bet is to pick a communication channel (USB, UART, CAN, etc) and write your own implementation. Also, I think there is an Arduino library that you might be able use as a basis.
Have a look here:
I haven’t had much time to keep this up to date with the latest firmware, but don’t think a whole bunch has changed. At some point I will need to use this for my own projects and I will update it…
Hope this helps