[Question] What are the units of fval? Can I send commands to both motors at the same time?

johnkok / ros_odrive

Odrive motor controller C++ driver for ROS

MIT License

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[Question] What are the units of fval? Can I send commands to both motors at the same time? #2

Closed jorgemiar closed 4 years ago

jorgemiar commented 4 years ago

Are the units of fval [count/s]? And is this the same for the vel being published?

Also, is it possible to send a velocity command to both motors at the same time? As the control message only sends 1 axis at a time.

johnkok commented 4 years ago

For Velocity control, the fval unit is "encounter counts/second" as it is defined by the target. Currently, setting velocity on both axis using a single command is not supported, but this can be easily achieved by extending the existing commands and adding a new command (I will also added to my backlog...). Of course you may have a small delay between transferring the data to target for each channel through USB- but for most applications this is not a problem.