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

General
Tutorials
- Hoverboard Guide
- Migration Guide
Interfaces & Protocols
API Reference
- ODrive
  - Can
    - • Config
    - • Error
    - • Protocol
  - • Endpoint
  - Axis
    - • LockinConfig
    - Config
      - • CalibrationLockin
    - • Error
    - • LockinState
    - • AxisState
  - • ThermistorCurrentLimiter
  - OnboardThermistorCurrentLimiter
    - • Config
  - OffboardThermistorCurrentLimiter
    - • Config
  - Motor
    - • CurrentControl
    - • GateDriver
    - • TimingLog
    - • Config
    - • Error
    - • ArmedState
    - • MotorType
  - Controller
    - Config
      - • Anticogging
    - • Error
    - • ControlMode
    - • InputMode
  - Encoder
    - • Config
    - • Error
    - • Mode
  - SensorlessEstimator
    - • Config
    - • Error
  - TrapezoidalTrajectory
    - • Config
  - Endstop
    - • Config
  - SystemStats
    - • Usb
    - • I2C
  - • Config
For ODrive Developers
Component Guides
- Motor Guide
- Encoder Guide

View the Project on GitHub odriverobotics/ODrive

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ODrive 〉Encoder 〉Mode

Values

MODE_INCREMENTAL — 0

No description

MODE_HALL — 1

No description

MODE_SINCOS — 2

No description

MODE_SPI_ABS_CUI — 256

compatible with CUI AMT23xx

MODE_SPI_ABS_AMS — 257

compatible with AMS AS5047P, AS5048A/AS5048B (no daisy chain support)

MODE_SPI_ABS_AEAT — 258

not yet implemented

MODE_SPI_ABS_RLS — 259

RLS Encoders