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Merge pull request #247 from tobbelobb/patch-1

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Update getting-started.md
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Oskar Weigl
2018-09-14 09:28:46 -07:00
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docs/getting-started.md
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@@ -228,7 +228,7 @@ Let's get motor 0 up and running. The procedure for motor 1 is exactly the same,
### Other control modes
The ODrive also supports velocity control and current (torque) control.
* **Velocity control**: Set `odrv0.axis0.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL`. You can now control the velocity with `odrv0.axis0.controller.vel_setpoint = 5000`. Units are counts/s.
* **Current control**: Set `odrv0.axis0.controller.config.control_mode = CTRL_MODE_CURRENT_CONTROL`. You can now control the current with `odrv0.axis0.controller.vel_setpoint = 3`. Units are A. **NOTE**: There is no velocity limiting in current control mode. Make sure that you don't overrev the motor, or exceed the max speed for your encoder.
* **Current control**: Set `odrv0.axis0.controller.config.control_mode = CTRL_MODE_CURRENT_CONTROL`. You can now control the current with `odrv0.axis0.controller.current_setpoint = 3`. Units are A. **NOTE**: There is no velocity limiting in current control mode. Make sure that you don't overrev the motor, or exceed the max speed for your encoder.
## What's next?