From 134cd37537787477c8ceee789ed8eb51f464e0f1 Mon Sep 17 00:00:00 2001 From: Capo01 <503426+Capo01@users.noreply.github.com> Date: Sat, 4 May 2019 16:07:58 +1000 Subject: [PATCH] removed f from gain odrive commands When run in odrivetool the current commands will give a syntax error. --- docs/commands.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/commands.md b/docs/commands.md index bc604f4a..e6ddaa09 100644 --- a/docs/commands.md +++ b/docs/commands.md @@ -68,9 +68,9 @@ Possible values are: ### Tuning parameters The motion control gains are currently manually tuned: -* `.controller.config.pos_gain = 20.0f` [(counts/s) / counts] -* `.controller.config.vel_gain = 5.0f / 10000.0f` [A/(counts/s)] -* `.controller.config.vel_integrator_gain = 10.0f / 10000.0f` [A/((counts/s) * s)] +* `.controller.config.pos_gain = 20.0` [(counts/s) / counts] +* `.controller.config.vel_gain = 5.0 / 10000.0` [A/(counts/s)] +* `.controller.config.vel_integrator_gain = 10.0 / 10000.0` [A/((counts/s) * s)] An upcoming feature will enable automatic tuning. Until then, here is a rough tuning procedure: * Set the integrator gain to 0