From 4a5f2cc1c0095760d844c371fc489d9fd4b05a40 Mon Sep 17 00:00:00 2001
From: Capo01 <503426+Capo01@users.noreply.github.com>
Date: Sat, 8 Sep 2018 19:22:51 +1000
Subject: [PATCH 1/2] Additional detail for the control method

Added additional detail.
---
 docs/control.md | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/docs/control.md b/docs/control.md
index 0be73866..3775c033 100644
--- a/docs/control.md
+++ b/docs/control.md
@@ -4,6 +4,17 @@ The motor controller is a cascaded style position, velocity and current control
 
 ![Cascaded pos vel I loops](https://static1.squarespace.com/static/58aff26de4fcb53b5efd2f02/t/5b66284a0e2e72aae8818d64/1533421649405/CascadedController.png?format=2500w)
 
-* The position controller is a P loop with a single proportional gain.
-* The velocity controller is a PI loop.
-* The current controller is a PI loop.
+### Position loop:
+The position controller is a P loop with a single proportional gain.
+* `vel_cmd = (pos_setpoint - pos_feedback) * pos_gain`
+
+### Velocity loop:
+The velocity controller is a PI loop.
+* `vel_error_sum += (vel_cmd - vel_feedback) * vel_integrator_gain`
+* `current_cmd = (vel_cmd - vel_feedback) * vel_gain + vel_error_sum + vel_feedforward`
+### Current loop:
+The current controller is a PI loop.
+* `current_error_sum += (current_cmd - current_fb) * current_integrator_gain`
+* `voltage_cmd = (current_cmd - current_fb) * current_gain + current_error_sum + current_feedforward`
+
+For more detail refer to [controller.cpp](https://github.com/madcowswe/ODrive/blob/master/Firmware/MotorControl/controller.cpp#L86).

From 6eb53f13e0ac8faceebd035769a9db2d4e02e122 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Wed, 12 Sep 2018 18:59:02 -0700
Subject: [PATCH 2/2] Update control.md

---
 docs/control.md | 20 +++++++++++++++-----
 1 file changed, 15 insertions(+), 5 deletions(-)

diff --git a/docs/control.md b/docs/control.md
index 3775c033..f0b2da1d 100644
--- a/docs/control.md
+++ b/docs/control.md
@@ -6,15 +6,25 @@ The motor controller is a cascaded style position, velocity and current control
 
 ### Position loop:
 The position controller is a P loop with a single proportional gain.
-* `vel_cmd = (pos_setpoint - pos_feedback) * pos_gain`
+```text
+pos_error = pos_setpoint - pos_feedback
+vel_cmd = pos_error * pos_gain + vel_feedforward
+```
 
 ### Velocity loop:
 The velocity controller is a PI loop.
-* `vel_error_sum += (vel_cmd - vel_feedback) * vel_integrator_gain`
-* `current_cmd = (vel_cmd - vel_feedback) * vel_gain + vel_error_sum + vel_feedforward`
+```text
+vel_error = vel_cmd - vel_feedback
+current_integral += vel_error * vel_integrator_gain
+current_cmd = vel_error * vel_gain + current_integral + current_feedforward
+```
+
 ### Current loop:
 The current controller is a PI loop.
-* `current_error_sum += (current_cmd - current_fb) * current_integrator_gain`
-* `voltage_cmd = (current_cmd - current_fb) * current_gain + current_error_sum + current_feedforward`
+```text
+current_error = current_cmd - current_fb
+voltage_integral += current_error * current_integrator_gain
+voltage_cmd = current_error * current_gain + voltage_integral (+ voltage_feedforward when we have motor model)
+```
 
 For more detail refer to [controller.cpp](https://github.com/madcowswe/ODrive/blob/master/Firmware/MotorControl/controller.cpp#L86).