From b9424461dd234b569a1fa18109aeb3246a3e451b Mon Sep 17 00:00:00 2001 From: Capo01 <503426+Capo01@users.noreply.github.com> Date: Tue, 14 Aug 2018 19:45:53 +1000 Subject: [PATCH 1/2] Added position, velocity and current definitions --- docs/commands.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/docs/commands.md b/docs/commands.md index 0ec87a36..177e57cf 100644 --- a/docs/commands.md +++ b/docs/commands.md @@ -71,6 +71,18 @@ An upcoming feature will enable automatic tuning. Until then, here is a rough tu * Back down `pos_gain` until you do not have overshoot anymore. * The integrator is not easily tuned, nor is it strictly required. Tune at your own discretion. +## System monitoring commands + +### Encoder position and velocity +* View encoder position with `.encoder.pos_estimate` [counts] +* View rotational velocity with `.encoder.ppl_vel` [counts/s] + +### Motor current and torque estimation +* View the commanded motor current with `.motor.current_control.Iq_setpoint` [A] +* View the measured motor current with `.motor.current_control.Iq_measured` [A]. If you find that this returns noisy data then use the command motor current instead. The two values should be close so long as you are not approching the maximim achieveable rotational velocity of your motor for a given supply votlage, in which case the commanded current may become larger than the measured current. + +Using the motor current and the known KV of your motor you can estimate the motors torque using the following relationship: Torque [N.m] = 8.27 * Current [A] / KV. + ## General system commands ### Saving the configuration From 81691eecbd7e8003de6ada652427a6367445cc6a Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Tue, 14 Aug 2018 16:44:37 -0700 Subject: [PATCH 2/2] Update commands.md --- docs/commands.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/commands.md b/docs/commands.md index 177e57cf..16710ab0 100644 --- a/docs/commands.md +++ b/docs/commands.md @@ -75,7 +75,7 @@ An upcoming feature will enable automatic tuning. Until then, here is a rough tu ### Encoder position and velocity * View encoder position with `.encoder.pos_estimate` [counts] -* View rotational velocity with `.encoder.ppl_vel` [counts/s] +* View rotational velocity with `.encoder.pll_vel` [counts/s] ### Motor current and torque estimation * View the commanded motor current with `.motor.current_control.Iq_setpoint` [A]