ODrive Documentation

High performance motor control

View the Project on GitHub odriverobotics/ODrive

Help improve these docs: submit edits using the link in the top right.

If you need help, please search or ask the ODrive Community.

ODrive 〉Motor 〉Config


pre_calibrated  —  bool    readwrite

pole_pairs  —  int32    readwrite

calibration_current  —  float32    readwrite

resistance_calib_max_voltage  —  float32    readwrite

phase_inductance  —  float32    readwrite

phase_resistance  —  float32    readwrite

torque_constant  —  float32    readwrite

motor_type  —  MotorType    readwrite

current_lim  —  float32    readwrite

current_lim_margin  —  float32    readwrite

torque_lim  —  float32    readwrite

inverter_temp_limit_lower  —  float32    readwrite

inverter_temp_limit_upper  —  float32    readwrite

requested_current_range  —  float32    readwrite

current_control_bandwidth  —  float32    readwrite

acim_gain_min_flux  —  float32    readwrite

acim_autoflux_min_Id  —  float32    readwrite

acim_autoflux_enable  —  bool    readwrite

acim_autoflux_attack_gain  —  float32    readwrite

acim_autoflux_decay_gain  —  float32    readwrite

R_wL_FF_enable  —  bool    readwrite

bEMF_FF_enable  —  bool    readwrite

I_bus_hard_min  —  float32    readwrite

I_bus_hard_max  —  float32    readwrite

I_leak_max  —  float32    readwrite

dc_calib_tau  —  float32    readwrite


This interface has no functions.