Could we set the goal position value to 0 in Extended Position Control Mode (Multi-turn) without making the motor turn in the opposite direction?
OR alternatively, is it possible to read the present position or have accuracy of position while in wheel mode (Velocity Control Mode)?
Resetting the turn count is newly added in the latest firmware, therefore, it cannot be used in the previous firmware version.
However, you can read Present Position while operating with Velocity Control Mode.
The Present Position range for X series is -2,147,483,648 ~ 2,147,483,647 which is 524,288 revolution for each direction.
Our TurtleBot3 is using this value(left and right wheels are set as Velocity control mode) for estimating its present location as well.
If your application is unlikely to exceed above range, you can definitely use above 4byte position value.