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Sync with params on old controller

beaglebone
Jeroen Vreeken 6 years ago
parent
commit
881f024e8e
2 changed files with 5 additions and 5 deletions
  1. +4
    -4
      controller/dt_ctrl.ctrl
  2. +1
    -1
      controller/dt_ctrl.param

+ 4
- 4
controller/dt_ctrl.ctrl View File

@ -392,7 +392,7 @@ params {
{ "elevation_spg", "setpoint", (float) 0.0 }
{ "elevation_spg", "max_x", (float) deg2rad(90.0) }
{ "elevation_spg", "min_x", (float) deg2rad(-0.05) }
{ "elevation_spg", "min_x", (float) deg2rad(-0.055) }
{ "elevation_spg", "max_v", (float) rpm2rads(2100.0)/$(elevation_gear) }
{ "elevation_spg", "max_a", (float) 0.0003 }
{ "elevation_spg", "max_j", (float) 0.000016 }
@ -416,13 +416,13 @@ params {
{ "elevation_speed_limit", "max", (float) rpm2rads(0.08) }
{ "elevation_jerk_limit", "min", (float)-0.003 }
{ "elevation_jerk_limit", "max", (float) 0.003 }
{ "elevation_torsion_pid", "kp", (float) 0.2 }
{ "elevation_torsion_pid", "kp", (float) 20.0 }
{ "elevation_torsion_pid", "ki", (float) 0.0 }
{ "elevation_torsion_pid", "kd", (float) 0.0 }
{ "elevation_torsion_pid", "maxw", (float) 0.0001 }
{ "elevation_torsion_pid", "minw", (float)-0.0001 }
{ "elevation_torsion_speed_limit", "min", (float) rpm2rads(-0.001) }
{ "elevation_torsion_speed_limit", "max", (float) rpm2rads(0.001) }
{ "elevation_torsion_speed_limit", "min", (float) rpm2rads(-0.01) }
{ "elevation_torsion_speed_limit", "max", (float) rpm2rads(0.01) }
{ "elevation_torsion_range", "max", (float) 0.0002 }


+ 1
- 1
controller/dt_ctrl.param View File

@ -7,6 +7,6 @@ params {
{ "elevation_pid", "ki", (float)0 }
{ "elevation_pid", "kd", (float)0 }
# limit spg to 1000rpm
# limit spg to 2500rpm
{ "azimuth_spg", "max_v", (float) rpm2rads(2500.0)/$(azimuth_gear) }
}

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