4. Motors and Encoders - iangohy/SUTDoggo GitHub Wiki

4.1 Motors and Encoders

Doggo has 4 ODrives, each controlling one leg. With the coaxial mechanism, each leg is controlled by two motors, each having a AS5047P encoder to track the motor angle.

4.3 Motors and Encoders Connection to ODrive

Connect the motors and encoders to the ODrives as shown below (4 sets of this).