From a7b11f8c6db30af55302b8b0343bd9b601579208 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Mon, 20 Nov 2017 20:10:38 -0800 Subject: [PATCH 1/2] Update README.md --- Firmware/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/README.md b/Firmware/README.md index ec5d96f6..eebd5de8 100644 --- a/Firmware/README.md +++ b/Firmware/README.md @@ -105,7 +105,7 @@ After installing all of the above, open a Git Bash shell. Continue at section [B ### Flashing the firmware * **Make sure you have [configured the parameters first](#configuring-parameters)** -* Connect `SWD`, `SWC`, and `GND` on connector J2 to the programmer. +* Connect `GND`, `SWD`, and `SWC` on connector J2 to the programmer. Note: Always plug in `GND` first! * You need to power the board by only **ONE** of the following: VCC(3.3v), 5V, or the main power connection (the DC bus). The USB port (J1) does not power the board. * Run `make flash` in the root of this repository. From 772bbeef12d754b90c101619630f94044ba250d4 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Thu, 7 Dec 2017 10:40:24 -0800 Subject: [PATCH 2/2] Update README.md --- Firmware/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/Firmware/README.md b/Firmware/README.md index eebd5de8..138049b2 100644 --- a/Firmware/README.md +++ b/Firmware/README.md @@ -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: