ODrive Tuning and Parameters

PID Tuning:

https://docs.odriverobotics.com/commands.html#control-commands

The PID should be tuned in order to maintain smooth operation while moving slowly. For example, in trajectory control mode, if the velocity and acceleration limits are set low, then the motor will move in noticeable “wobbles” if not tuned properly.

Rough tuning values (these should be tuned more thoroughly):

• pos_gain = 50
• vel_gain = 0.0005
• vel_integrator_gain = 0.0025