I just got my Odrive and it is an amazing piece of hardware that I might buy more of in the future. However, the documentation lacks a section dedicated to defining each variable in Odrive.
Currently I am trying to understand the difference between pos_estimate and pos_cpr. Both seem return the value of the encoder but they don’t show the same value (usually off by 3~5 counts). I know that pos_cpr clamps the position to values between [0,encoder cpr -1 ] but why they don’t show the exact same value in this range?