Disable inputs. Setpoints retain their last value.
input_xxx through to
Ramps a velocity command from the current value to the target value.
Implements a 2nd order position tracking filter.
Intended for use with step/dir interface, but can also be used with position-only commands.
Result of a step command from 1000 to 0
Implementes an online trapezoidal trajectory planner.
Ramp a torque command from the current value to the target value.
Implements “electronic mirroring”.
This is like electronic camming, but you can only mirror exactly the movements of the other motor, according to a fixed ratio.
Implements a tuning mode
Used for tuning your odrive, this mode allows the user to set different frequencies. Set control_mode for the loop you want to tune, then set the frequency desired. The ODrive will send a 1 turn amplitude sine wave to the controller with the given frequency and phase.