From ffbeaed61b74cb23c522681b062a0337c601330d Mon Sep 17 00:00:00 2001 From: Paul Guenette Date: Thu, 13 Aug 2020 21:50:18 -0400 Subject: [PATCH] Update control.md --- docs/control.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/control.md b/docs/control.md index d75a35e1..84319103 100644 --- a/docs/control.md +++ b/docs/control.md @@ -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