I have been following this project since it was published on hackaday.io. Congratulations to Oskar and the rest of the contributors for getting it to at least alpha production.
Question: I could not find information on what kind of control modes are supported- position, velocity, current/force?
Aside: I have previously used another similar product: VESC, which was born as a driver for electric skateboard motors (Odrive was not available yet). I used two of them in current control mode with feedback from magnetic encoders. Since motor current is proportional to torque, it's quite useful control scheme if the motion equations of the system can be expressed in terms of force/torque (which most of them are, if you think about it).
One such example is car's accelerator pedal: it controls the torque exerted by motor, which exerts force against road, which makes mass to accelerate.
The acceleration in turn increases velocity of the car, which in turn changes the car's position.
While this looks obvious after one has thought about it, it actually means that the common linear control methods (e.g. PID) won't work optimally (if at all) if you try to control position by changing acceleration.
Question: I could not find information on what kind of control modes are supported- position, velocity, current/force?
Aside: I have previously used another similar product: VESC, which was born as a driver for electric skateboard motors (Odrive was not available yet). I used two of them in current control mode with feedback from magnetic encoders. Since motor current is proportional to torque, it's quite useful control scheme if the motion equations of the system can be expressed in terms of force/torque (which most of them are, if you think about it).
One such example is car's accelerator pedal: it controls the torque exerted by motor, which exerts force against road, which makes mass to accelerate. The acceleration in turn increases velocity of the car, which in turn changes the car's position. While this looks obvious after one has thought about it, it actually means that the common linear control methods (e.g. PID) won't work optimally (if at all) if you try to control position by changing acceleration.