Read current of motor from Arduino code

1

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?

2

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

3

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?

4

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.