I would like to run a series of motor control tests using a motor connected via a shaft to a rotary encoder. The motor CPR has been found to be 2400. In the commands below I have neglected feedforward values.
First, I would like to connect the ODrive controller to a PC via USB and run the test_bulk.py script. I would set the motor velocity to e.g. 2400 counts/second (v 0 2400 0, then get a measurement of velocity for M0.
I have looked through the exposed variable table in low_level.c, but I can’t identify an appropriate variable for instantaneous angular velocity. Would anyone know of a suitable variable?
Secondly, I would like to use position control on the motor. I would like to set the initial motor position to 0 (p 0 0 0 0), make it rotate 180 degrees (p 0 1200 0 0), and measure the time taken to rotate through that angle. What would be the simplest way to determine the time to rotate through a given angle?
Many thanks for your help!