We are currently making the encoders, but in the mean time we thought we might try out the motors. Modifying and running example.py, we struggle to make the motor rotate continuously, and we are not able to find out how methods like .SetCurrentReference() and such work. Do you have documentation on how the methods in the SDK work? Is it even possible to drive the motors without the encoder connected (just some constant velocity or sine wave)? If so how would one do this?
when using the motors the first time after powering up the motor board, they motors get calibrated/aligned. I assume this uses the motor encoders. Therefore, I am not sure you can run the motors without the encoders.
The SetCurrentReference() method applies a constant current at the motor. As the current is proportional to the torque, this means you are applying a constant torque.
As Julian pointed out, it is not possible to operate the motors without encoder feedback.
The motors are Synchronous Motors controlled using Field Oriented Control (Vector control (motor) - Wikipedia)
Said shortly, with FOC, the controller needs to know the position of the rotor magnets with respect to the stator coils to know how to power the 3 phases in order to apply the commanded torque.
We do not have a specific documentation for the SDK yet, but the examples should be easy to understand. Do not hesitate to ask here if something is not clear.