Hey guys...since this is getting discussed again, I thought I might share my super chopped up demo code for ARC and Odrive!! This is just a POC to show how a BLDC motor on closed loop can be controlled with ARC, the firmware basically sends all servo input from ARC straight the M0 on the Odrive, it is more or less just a starting point and meant to be developed further!  I thought it might come in handy...

https://github.com/SwannSchilling/ODrive-for-ARC/blob/main/ODriveArcArduinoTest.ino

@Mickey666 Nice!

You can use the AS5047P absolute encoder: https://www.digikey.com/en/products/detail/ams/AS5047P-TS_EK_AB/5452344

with odrive. https://docs.odriverobotics.com/encoders

Using an evaluation board simplifies the integration.

The AS5047P is also used by the moteus controller.

@mickey, I saw your post on another page about the torque you are getting with your set up. Have you noticed any heat in your gear box from the motor?

Great job on the ODrive set up....you should make a video on your set up!

@PTP  The dev kit worked fine in ubuntu but I couldn't get it to work properly in windows, I posted in the discord.   I saw above you are looking at making a plugin NICE that would be very helpful (You are amazing).

@Mickey666 Nice work and demo on the Odrive working with Arduino and ARC. Very cool.

The reason I went for the Moteus was he had made the opensource dog and I figured that would be the easiest way to get one working with ARC ( I still am not able to buy a dog, so only choice is build at this stage unless someone wants to give me 75K for Boston Dynamics Spot) . I like the nearzero idea as it uses standard PWM or I2C so it should just work out of the box with ARC.

@nink I'm following on the discord. Let me know if you figure it out. I never did hear from the developer of Near Zero..i didn't think i would. Some flakery on the home brew of this project.

@fxrtst I guess what we would have to to with 3d printed gearboxes is to stresstest, I did not do this yet. All options have pros and cons! I went for the Cycloidal because of the low/zero backlash, but it is taking some effort and money to build with all those bearings and other parts! Planetary Gearboxes on the other hand can be easy to print, but they might have some backlash and I don't know how good those teeth will hold up, when exposed to a lot of torque. The choice of the right gearbox is as important as the motor/driver solution, it might be strongly dependent on the scenario of your application!  If there is a cheap option available that is assembled and ready to use, please share!!

The Moteus is a very good find, I am more than tempted to give it a try. Both the Moteus and the ODrive have pros and cons... The Moteus is very specific for being used on a robotic joint and to be used straight out of the box...eg encoder is on board! The Odrive has a bigger form factor, but lets you choose the encoder and is more a general purpose dev board!

Odrive setup for ARC is pretty straight forward, I dont own a Moteus (yet?)...so lets see where this takes us!!

..yeah its the wild wild west of controllers for BLDC/FOC motors! Everyone is making them and alot of them are useful for only certain sized motors (except ODrive).

This guy has a very easy to understand series on YouTube and shows different use cases and set up for open and closed loop examples... yup you guessed it with HIS version of a controller he developed...its got two channels for $45USD but again limited by max current (about 6 amps with 30A short bursts). Also has a built in Arduino. So definitely depends on the size of the project you are building. Watch his whole series..!!! Good info.

@mickey are you on Discord?