Hi,
First time post, I’d like to say the odrive controller is great and is my go to motor controller. This my 4th project with it.
I don’t know if this can be done but figured odrive is a good start.
For my project I am trying to maintain a constant wheel speed with a wheel spinning off its center (lopsided). To do this I’ll need to vary the RPM through every rotation. Increase torque to get to the higher RPM then brake to drop to the lower RPM, repeat each rotation. I know I’m going to need to tweak the source code but wanted to see if anyone could give me a head start. If it works then eventually I’ll need to virtually move the wheel center externally via asic, PWM, etc.
Probably something like, if the encoder position is between 0-180 degree, set vel limit to 1500 RPM (or something proportional). Else (180-360 degree) set vel limit to 2000RPM.
Thanks!