So last night I had some time to assemble the first two 3D printed actuators for the hip-joints motion. In this test I am using Odrive 48V (Dual channel bldc controller) with encoder (as5047p)
Current limit is set to 10A (Quite low) just for testing the motion and the Position control.
I am using Odrives Position control that sends the motor a new position setpoint with
odrv0.axis0.controller.pos_setpoint = 10000
Beacuse this only for testing purpuse I also tuned down the
odrv0.axis0.controller.config.vel_limit [counts/s] to 5000.