Problem with understanding Native Protocol

Hello Everyone,
I am working on controlling a two links underactuated robot. It is required to control the torque input to the actuator at a rate of 1Khz. The input torque is calculated each cycle based on the position and velocity of both links(I am using LQR control)…
I have an Odrive v3.6 and arduino mega2560 boards. I want to use UART communication. I tried using ASCII protocol over UART, however I can’t get the 1Khz rate. I want to use the Native protocol instead. I did some readings on the odrive community and Docs, however It seems I cannot figure out how to write commands with the native protocol. I would be grateful If anyone could help me with that :slight_smile: