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Rene Hopf
2014-11-25 04:09:00 +01:00
parent 66abf50734
commit 98c82dcc38
1 changed files with 5 additions and 4 deletions
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9
src/main.c
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@@ -101,7 +101,7 @@ void link_pid(){
set_hal_pin("pid0.enable", 1.0);
}
void link_ac_sync_res(){
void link_ac_sync_res(){//bosch
// cmd
link_hal_pins("enc0.pos", "net0.cmd");
set_hal_pin("pderiv0.in_lp", 1);
@@ -113,7 +113,7 @@ void link_ac_sync_res(){
link_hal_pins("res0.pos", "net0.fb");
set_hal_pin("res0.enable", 1.0);
set_hal_pin("pderiv1.in_lp", 1);
set_hal_pin("pderiv1.out_lp", 1);
set_hal_pin("pderiv1.out_lp", 0.2);
set_hal_pin("pderiv1.vel_max", 1000.0 / 60.0 * 2.0 * M_PI);
set_hal_pin("pderiv1.acc_max", 1000.0 / 60.0 * 2.0 * M_PI / 0.005);
@@ -126,12 +126,13 @@ void link_ac_sync_res(){
// pid
set_hal_pin("pid0.pos_p", 100.0);
set_hal_pin("pid0.pos_lp", 1.0);
set_hal_pin("pid0.vel_lp", 0.6);
set_hal_pin("pid0.vel_lp", 0.4);
set_hal_pin("pid0.cur_lp", 0.5);
set_hal_pin("pid0.vel_max", 1000.0 / 60.0 * 2.0 * M_PI);
set_hal_pin("pid0.acc_max", 1000.0 / 60.0 * 2.0 * M_PI / 0.005);
}
void link_ac_sync_enc(){
void link_ac_sync_enc(){//berger lahr
// cmd
link_hal_pins("res0.pos", "net0.cmd");
set_hal_pin("res0.enable", 1.0);