Forums › Niryo One › Programming Niryo One › Controlling Individual motors in velocity space as well as open loop torque › Reply To: Controlling Individual motors in velocity space as well as open loop torque
Unfortunately, doing torque control on NiryoStepper is not possible.
Currently we’re only handling position control (through ros_control and in the firmware of the motor). You might be able to do velocity control but with quite some modifications in the code.
Also, there is no PID loop on the NiryoStepper directly. The PID control is executed on the Raspberry Pi, through the ros_control joint trajectory controller.