From de77a698b6b2f8583a76534e8189b5dcb1a4a7d0 Mon Sep 17 00:00:00 2001 From: Paul Guenette Date: Wed, 16 Jun 2021 21:37:07 -0400 Subject: [PATCH] Update control.md --- docs/control.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docs/control.md b/docs/control.md index 886d7772..10aab174 100644 --- a/docs/control.md +++ b/docs/control.md @@ -6,6 +6,8 @@ The motor controller is a cascaded style position, velocity and current control Each stage of the control loop is a variation on a [PID controller](https://en.wikipedia.org/wiki/PID_controller). A PID controller is a mathematical model that can be adapted to control a wide variety of systems. This flexibility is essential as it allows the ODrive to be used to control all kinds of mechanical systems. +* Note: The controller has been updated to use `torque` in Newton-meters instead of current at the "system" level. There is a `torque_constant` parameter which converts between torque and current, after which the rest of this explanation still holds. + ### Position loop: The position controller is a P loop with a single proportional gain. ```text