2021-07-14 03:36:01 +00:00
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load idm
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idm0.rt_prio = 4
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idm0.en = fault0.en_out
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pid0.pos_ext_cmd = idm0.pos_cmd
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pid0.vel_ext_cmd = idm0.vel_cmd
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pid0.acc_ext_cmd = idm0.acc_cmd
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pid0.j_mot = idm0.inertia
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pid0.d = idm0.damping
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pid0.f = idm0.friction
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pid0.l = idm0.load
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pid0.pos_bw = idm0.pos_bw
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pid0.vel_bw = idm0.vel_bw
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pid0.vel_d = idm0.vel_d
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2021-09-17 03:26:17 +00:00
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idm0.torque = pid0.torque_cmd
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2021-07-14 03:36:01 +00:00
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idm0.fb_torque = pid0.fb_torque_cmd
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2022-04-22 00:08:02 +00:00
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vel1.torque = 0
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vel2.torque = 0
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2021-07-14 03:36:01 +00:00
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conf0.max_pos_error = 0
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conf0.max_sat = 10
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conf0.vel_g = 1
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term0.wave0 = idm0.pos_cmd
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term0.wave2 = idm0.vel_cmd
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term0.wave4 = pid0.fb_torque_cmd
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term0.gain4 = 100
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2022-04-22 00:08:02 +00:00
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term0.send_step = 21
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