I’ve been drooling over the possibilities of ODrive ever since I learned of its existence, and I finally decided I had to buy one. My last little demo project works well enough with steppers, but in the back of my head it’s just screaming for ODrive control. https://www.youtube.com/watch?v=8DWK3zm9SMs
This will need some significant redesign to accommodate BLDC motors+encoders but it will be totally worth it. I’ll keep you guys updated as it progresses.