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Merge pull request #335 from Capo01/patch-1

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removed f from gain odrive commands
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Oskar Weigl
2019-05-04 12:22:08 -07:00
committed by GitHub
parent 305b70c6cf 134cd37537
commit aad462fa64
1 changed files with 3 additions and 3 deletions
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docs/commands.md
+3 -3
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@@ -68,9 +68,9 @@ Possible values are:
### Tuning parameters
The motion control gains are currently manually tuned:
* `<axis>.controller.config.pos_gain = 20.0f` [(counts/s) / counts]
* `<axis>.controller.config.vel_gain = 5.0f / 10000.0f` [A/(counts/s)]
* `<axis>.controller.config.vel_integrator_gain = 10.0f / 10000.0f` [A/((counts/s) * s)]
* `<axis>.controller.config.pos_gain = 20.0` [(counts/s) / counts]
* `<axis>.controller.config.vel_gain = 5.0 / 10000.0` [A/(counts/s)]
* `<axis>.controller.config.vel_integrator_gain = 10.0 / 10000.0` [A/((counts/s) * s)]
An upcoming feature will enable automatic tuning. Until then, here is a rough tuning procedure:
* Set the integrator gain to 0