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clean up duplicate docstring, remove hardcoded default unit value from docstring

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This commit is contained in:
Oskar Weigl
2021-10-10 16:34:17 -07:00
parent f5caa53520
commit 777d71aeba
1 changed files with 6 additions and 7 deletions
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Firmware/odrive-interface.yaml
+6 -7
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@@ -922,20 +922,19 @@ interfaces:
pos_gain:
type: float32
unit: (turn/s) / turn
doc: units = (turn/s) / turn, default = 20
doc: units = (turn/s) / turn
vel_gain:
type: float32
unit: 'Nm/(turn/s)'
doc: units = 'Nm/(turn/s), default = 0.16
unit: Nm / (turn/s)
doc: units = Nm / (turn/s)
vel_integrator_gain:
type: float32
unit: Nm/(turn/s * s)
doc: units = Nm/(turn/s * s), default = 0.32
doc: units = 'Nm/(turn/s), default = 0.16
unit: Nm / (turn/s * s)
doc: units = Nm / (turn/s * s)
vel_integrator_limit:
type: float32
unit: Nm
doc: Limit the integrator output (independent of proportional gain output) to prevent 'integrator windup'. Set to infinity to disable. Units = Nm, default = inf
doc: Limit the integrator output (independent of proportional gain output). Set to infinity to disable. Units = Nm
vel_limit:
type: float32
unit: turn/s