Missing controller command move_to_pos

1

Hi all,

I am using an ODrive v3.6 and an SPI encoder, so followed this link to get the firmware updated:
SPI control firmware

All is good and the encoder is working, but I am noticing some missing commands in odrivetool, e.g. move_to_pos doesn’t exist, even though looking at the codebase it seems to be there in this branch:
controller.cpp

Am I doing something wrong during the build?
I just followed the standard instructions and built/flashed the firmware in VSCode, then used the version of odrivetool that is in this branch.

2

In addition to this, does anyone know if the AS5048 encoder with SPI can be made to work on a more up-to-date branch of the code?
The firmware I am using is out-dated so there is a lot of mismatch between this and the docs, e.g.:

  • Cannot write to property current_setpoint (how do I do current control then?)
  • vel_limit_tolerance to 0 does NOT disable velocity check
  • No move_to_pos command
3

The RazorsEdge firmware is the most up-to-date.

Inputs have changed, please see the changelog: