The docs reflect firmware version 0.5.1. There are many breaking changes. Please find docs for v0.4.12 here.

ODrive Documentation

High performance motor control

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ODrive 〉Controller


error  —  Error    readwrite

input_pos  —  float32    readwrite

input_vel  —  float32    readwrite

input_torque  —  float32    readwrite

pos_setpoint  —  float32    readonly

vel_setpoint  —  float32    readonly

torque_setpoint  —  float32    readonly

trajectory_done  —  bool    readonly

vel_integrator_torque  —  float32    readwrite

anticogging_valid  —  bool    readwrite

config  —  Config


move_incremental(displacement: float32, from_input_pos: bool)