Hi,
Is there a way to create resistance to motion with the ODrive 5065 motor while allowing the shaft to freely spin? I have a project where I want to be able to create resistance as the shaft rotates and be able to control the amount of resistance.
Thank you for your help!
There is, once everything is properly calibrated, set:
odrv0.axis0.controller.config.control_mode = ControlMode.VELOCITY_CONTROL
odrv0.axis0.controller.input_vel = 0
odrv0.axis0.controller.config.vel_integrator_gain = 0
From there, set
odrv0.axis0.controller.config.vel_gain
to the desired torque/speed resistance ratio, and enter closed loop control.