diff --git a/docs/commands.md b/docs/commands.md index 177e57cf..16710ab0 100644 --- a/docs/commands.md +++ b/docs/commands.md @@ -75,7 +75,7 @@ An upcoming feature will enable automatic tuning. Until then, here is a rough tu ### Encoder position and velocity * View encoder position with `.encoder.pos_estimate` [counts] -* View rotational velocity with `.encoder.ppl_vel` [counts/s] +* View rotational velocity with `.encoder.pll_vel` [counts/s] ### Motor current and torque estimation * View the commanded motor current with `.motor.current_control.Iq_setpoint` [A]