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Oskar Weigl
2019-04-01 18:52:30 -07:00
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docs/commands.md
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@@ -79,7 +79,7 @@ An upcoming feature will enable automatic tuning. Until then, here is a rough tu
* Back down `vel_gain` to 50% of the vibrating value.
* Increase `pos_gain` by around 30% per iteration until you see some overshoot.
* Back down `pos_gain` until you do not have overshoot anymore.
* The integrator is not easily tuned, nor is it strictly required. Tune at your own discretion.
* The integrator can be set to `0.5 * bandwidth * vel_gain`, where `bandwidth` is the overall resulting tracking bandwidth of your system. Say your tuning made it track commands with a settling time of 100ms: this means the bandwidth was 1/100ms or 10. In this case you should set the `vel_integrator_gain = 0.5 * 10 * vel_gain`.
## System monitoring commands