just saw a team using odrive on the TRR2019 preparation yesterday. Antoine and Philippe where using a clever combination of a hall effect motor filtered with capacitors + can bus interface with a beagle bone black. I think he mentioned that he was sending velocity commands and monitoring several values at 100Hz, thus the reason of CAN because UART was too slow.
unfortunately i must have his username here wrong because i can’t find it on the forum.
let’s wish them good luck for today’s race! 