Read current of motor from Arduino code

I am using the odrive.SetCurrent command to control a motor with esp32. I want to check how long it takes for the actual current of the motor. Is there any way of reading the actual current of the motor from the Arduino code?

Use the Arduino library to request it: r axis0.motor.current_control.Iq_measured is the actual current.

I’m trying to use odrive.SetCurrent command to run the motor but it’s not working at all I don’t know why, when I use the odrive.SetPosition works just fine.
Can you help me?

Likely you need to be in torque control mode if you want to directly set current/torque. If you’re in position control mode, only position control will work.