this topic has already been discussed several times, but I didn’t find an answer to my specific question.
I have a motor with ABI encoder connected to a gearbox. -> On the output side of that gearbox, there is another encoder (absolute values). -> This encoder is read by a Raspberry. -> the raspberry knows the ratio between absolute encoder counts and ABI encoder counts. -> the raspberry should calculate a PWM signal for the oDrive just on basis of the absolute encoder values.
So is there any way I can ‘hack’ the encoder source code, so I have my encoder ready from startup and always setting it to zero from startup? Because my Raspberry knows the absolute position so I want the oDrive controller just to control the ‘offset’ of that position.
Is there a way I can achieve this without blowing up the oDrive?