Update migration.md

2026-09-21 15:34:33 +08:00 · 2020-10-12 13:52:59 -07:00
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@@ -4,6 +4,7 @@ Certain changes occurred between firmware versions v0.4.12 and v0.5.1 that will

 ## Unit Changes
 ODrive now uses units of [turns], [turns/s], and [turns/s^2] instead of [counts], [counts/s], and [counts/s^2]. In addition, the motor controller class now has an input command of torque in [Nm] instead of current in [Amps]. In general, every user-facing parameter that has to do with position or velocity is affected by the unit change.
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 **Note:** For the torque to be in correct in [Nm] you need to configure the `motor.config.torque_constant`. See the updated [getting started](getting-started.md/#configure-m0) for more details.

 ## Control Parameter Names