Position, velocity and current/force are the currently supported modes, see: https://github.com/madcowswe/ODriveFirmware/blob/master/MotorControl/low_level.c#L1

Position, velocity and current/force are the currently supported modes, see: https://github.com/madcowswe/ODriveFirmware/blob/master/MotorControl/low_level.c#L168-L187 https://github.com/madcowswe/ODriveFirmware/blob/master/Moto... Coming soon will also be go-to commands which track 3-rd order polynomial position trajectories.