From 777d71aeba41588ba6d1f9b019c7774a3daa57fe Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Sun, 10 Oct 2021 16:34:17 -0700 Subject: [PATCH] clean up duplicate docstring, remove hardcoded default unit value from docstring --- Firmware/odrive-interface.yaml | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml index eb0104aa..fdc582a4 100644 --- a/Firmware/odrive-interface.yaml +++ b/Firmware/odrive-interface.yaml @@ -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