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 〉Encoder 〉Mode

Values

MODE_INCREMENTAL  —  0

MODE_HALL  —  1

MODE_SINCOS  —  2

MODE_SPI_ABS_CUI  —  256

MODE_SPI_ABS_AMS  —  257

MODE_SPI_ABS_AEAT  —  258

MODE_SPI_ABS_RLS  —  259