Hi All!,
I am currently developing a robot that uses brushless dc motors, and the ODrive appears to be perfect for my application. My project involves adaptative control based on real time data input. I read that the ODrive is based on a PID controller, Is there any way of changing the ODrive control law?
The ODrive firmware is open source. Knock yourself out!
If you’d prefer not to dabble in real-time embedded C++ code, then you could always send control commands in torque mode, and implement your controller off-board in Python for example. USB or CAN comms may be fast enough, depending on what you need to do.