Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-18 18:20:15 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Update control.md

Browse Source
This commit is contained in:
Paul Guenette
2020-08-13 21:50:18 -04:00
committed by GitHub
parent 58bc55d835
commit ffbeaed61b
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/control.md
+1 -1
View File
@@ -29,7 +29,7 @@ voltage_integral += current_error * current_integrator_gain
voltage_cmd = current_error * current_gain + voltage_integral (+ voltage_feedforward when we have motor model)
```
`current_gain` and `current_integrator_gain` are automatically set according to the `motor.config.current_control_bandwidth` and the measured `phase_resistance` and `phase_inductance` to produce (theoretically) a critically-damped controller at the given bandwidth (in rad/s).
Note: `current_gain` and `current_integrator_gain` are automatically set according to `motor.config.current_control_bandwidth`
For more detail refer to [controller.cpp](https://github.com/madcowswe/ODrive/blob/master/Firmware/MotorControl/controller.cpp#L86).
## Tuning