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Oskar Weigl
2017-05-24 11:58:29 -07:00
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@@ -41,6 +41,7 @@ The motion control gains are currently manually tuned:
* `.pos_gain = 20.0f, // [(counts/s) / counts]`
* `.vel_gain = 15.0f / 10000.0f, // [A/(counts/s)]`
* `.vel_integrator_gain = 10.0f / 10000.0f, // [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
* Make sure you have a stable system. If it is not, decrease all gains until you have one.