From 6d860a05584345f59a98c5e4d11294773af00509 Mon Sep 17 00:00:00 2001 From: tobbelobb Date: Fri, 14 Sep 2018 14:41:38 +0200 Subject: [PATCH] Update getting-started.md Fixes typo that said `vel_setpoint` instead of `current_setpoint`. --- docs/getting-started.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/getting-started.md b/docs/getting-started.md index fd453bbc..994009f1 100644 --- a/docs/getting-started.md +++ b/docs/getting-started.md @@ -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?