New Odrive firmware - How to interface

Hi all, I'm finally starting the journey to building an Odrive based 2DOF setup to start and who knows, maybe I'll expand to a 6DOF eventually.

The latest Odrive firmware take position input as a decimal float that defines the number of motor turns (or partial turns) instead of a number of encoder counts. The precision of the turns is limited by the CPR of the encoder. I know that other's used older firmware in their builds so wondering if anyone has solved this yet.

I'm still very new to all of this but from what I saw the standard interfaces seem to scale output as a whole number only that is easy to correlate to the number of counts of an encoder in the old firmware.

Is there an existing way to pass Simtools Axis values as a float that's scaled by the CPR?
If not, would the best approach be to write a new interface plugin (based on this) that scales the -1 to 1 output value to a # of turns?

What else am I missing

We are all using a custom firmware, to be honest and I have no idea with how to connect to simtools as I just use Mover now.

I did attempt to make a tutorial for the software side but im not the best at it lol

https://www.xsimulator.net/communit...190kv-bldc-6dof-here-we-go-again.13879/page-1

Thanks, that was what I was afraid of haha. Was it someone on the Odrive community that helped customize? I am starting a thread there with some of my questions as well. so will try to keep the info flowing here as best I can.

-B

Jonathan from insectatech is the man, he done a lot of work with the odrives with his sims.

There's a few discussions over on xsimulator discord as well as scattered around the forum.