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 〉ControlMode

Values

CONTROL_MODE_VOLTAGE_CONTROL  —  0

CONTROL_MODE_TORQUE_CONTROL  —  1

CONTROL_MODE_VELOCITY_CONTROL  —  2

CONTROL_MODE_POSITION_CONTROL  —  3