From eea174f82b08d4db10e1d845a27e626ddadbe9b8 Mon Sep 17 00:00:00 2001 From: Unknown Date: Tue, 27 Nov 2018 22:54:54 -0500 Subject: [PATCH] Replace controller image in docs with new FF diagram --- docs/control.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/control.md b/docs/control.md index f0b2da1d..fd04ac6d 100644 --- a/docs/control.md +++ b/docs/control.md @@ -2,7 +2,7 @@ The motor controller is a cascaded style position, velocity and current control loop, as per the diagram below. When the control mode is set to position control, the whole loop runs. When running in velocity control mode, the position control part is removed and the velocity command is fed directly in to the second stage input. In current control mode, only the current controller is used. -![Cascaded pos vel I loops](https://static1.squarespace.com/static/58aff26de4fcb53b5efd2f02/t/5b66284a0e2e72aae8818d64/1533421649405/CascadedController.png?format=2500w) +![Cascaded pos vel I loops](https://github.com/madcowswe/ODrive/blob/master/docs/controller_with_ff.png?raw=true) ### Position loop: The position controller is a P loop with a single proportional gain.