I dont know much about odrive but I wanna ask can I physically use the odrive to control a series elastic actuator which has a motor a gearbox and a spring connected to the output of gearbox , I was thinking of connecting absolute encoder at thefinal output after the spring and after the gearbox and use odrive’s inbuilt encoder for motor side… can I write a control code on odrive firmware where it physically use these encoder values and rotate the motor according to what target angle after the spring i give… I understand that odrive is only built for dual loop control and not for seas but have someone tried it and could anyone guide me on the same , thanks!