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Update README.md

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Oskar Weigl
2017-12-07 10:40:24 -08:00
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Firmware/README.md
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@@ -48,6 +48,7 @@ You must set:
#### Tuning parameters
The most important parameters are the limits:
* The current limit: `.current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain`. The default current limit, for safety reasons, is set to 10A. This is quite weak, and good for making sure the drive is stable. Once you have tuned the drive, you can increase this to 75A to get some performance. Note that above 75A, you must change the current amplifier gains.
* Note: The motor current and the current drawn from the power supply is not the same in general. You should not look at the power supply current to see what is going on with the motor current.
* The velocity limit: `.vel_limit = 20000.0f, // [counts/s]`. Does what it says on the tin.
The motion control gains are currently manually tuned: