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Update idm.c

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This commit is contained in:
Nico Stute
2022-04-22 02:08:55 +02:00
committed by GitHub
parent b3a66a4ddd
commit fb23ed3176
1 changed files with 3 additions and 3 deletions
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6
shared/comps/idm.c
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@@ -62,13 +62,13 @@ static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
PIN(ji) = 10.0;
PIN(pos_bw) = 5.0;
PIN(vel_bw) = 40.0;
PIN(vel_d) = 2.0;
PIN(vel_d) = 4.0;
PIN(max_vel) = 25.0;
PIN(max_acc) = 250.0;
PIN(min_pos) = -10.0;
PIN(max_pos) = 10.0;
PIN(auto_step) = 1.4;
PIN(inertia) = 0.0001;
PIN(inertia) = 0.0002;
}
static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
@@ -292,4 +292,4 @@ hal_comp_t idm_comp_struct = {
.frt_stop = 0,
.ctx_size = 0,//sizeof(struct idm_ctx_t),
.pin_count = sizeof(struct idm_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
};
};