At what frequency can the torque setpoint be updated in torque control mode? Is it reasonable to update this value every 2 ms? how long might it take for the controller to respond when updated?
The internal control loop runs at 8kHz, you can send setpoints essentially as fast as you’d like, and expect the ODrive’s torque controller to update its internal setpoint within about 125us (from the end of the CAN message transmission). No issues at all with 500Hz, would just recommend setting CAN baudrate to 1Mbaud if you expect you’ll be going fast.