From 2b86a2fa08f5e1f47119a7316b29fafe0ab130ec Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Sun, 26 Aug 2018 13:42:08 -0700 Subject: [PATCH] Update hoverboard.md --- docs/hoverboard.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/hoverboard.md b/docs/hoverboard.md index 54cd70f5..5cf64332 100644 --- a/docs/hoverboard.md +++ b/docs/hoverboard.md @@ -33,6 +33,7 @@ Lets also start in velocity control mode since that is probably what you want fo odrv0.axis0.encoder.config.bandwidth = 100 odrv0.axis0.controller.config.pos_gain = 1 odrv0.axis0.controller.config.vel_gain = 0.02 +odrv0.axis0.controller.config.vel_integrator_gain = 0.1 odrv0.axis0.controller.config.vel_limit = 1000 odrv0.axis0.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL ```