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 〉Config


gain_scheduling_width  —  float32    readwrite

enable_vel_limit  —  bool    readwrite

enable_current_mode_vel_limit  —  bool    readwrite

enable_gain_scheduling  —  bool    readwrite

enable_overspeed_error  —  bool    readwrite

control_mode  —  ControlMode    readwrite

input_mode  —  InputMode    readwrite

pos_gain  —  float32    readwrite

vel_gain  —  float32    readwrite

vel_integrator_gain  —  float32    readwrite

vel_limit  —  float32    readwrite

vel_limit_tolerance  —  float32    readwrite

vel_ramp_rate  —  float32    readwrite

torque_ramp_rate  —  float32    readwrite

circular_setpoints  —  bool    readwrite

circular_setpoint_range  —  float32    readwrite

homing_speed  —  float32    readwrite

inertia  —  float32    readwrite

axis_to_mirror  —  uint8    readwrite

mirror_ratio  —  float32    readwrite

load_encoder_axis  —  uint8    readwrite

input_filter_bandwidth  —  float32    readwrite

anticogging  —  Anticogging


This interface has no functions.