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2 Commits
b58bc77bf6
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fb23ed3176
Author | SHA1 | Date | |
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fb23ed3176 | ||
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b3a66a4ddd |
@ -19,6 +19,9 @@ pid0.vel_d = idm0.vel_d
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idm0.torque = pid0.torque_cmd
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idm0.torque = pid0.torque_cmd
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idm0.fb_torque = pid0.fb_torque_cmd
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idm0.fb_torque = pid0.fb_torque_cmd
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vel1.torque = 0
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vel2.torque = 0
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conf0.max_pos_error = 0
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conf0.max_pos_error = 0
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conf0.max_sat = 10
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conf0.max_sat = 10
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conf0.vel_g = 1
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conf0.vel_g = 1
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@ -28,4 +31,4 @@ term0.wave2 = idm0.vel_cmd
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term0.wave4 = pid0.fb_torque_cmd
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term0.wave4 = pid0.fb_torque_cmd
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term0.gain4 = 100
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term0.gain4 = 100
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term0.send_step = 21
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term0.send_step = 21
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@ -62,13 +62,13 @@ static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
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PIN(ji) = 10.0;
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PIN(ji) = 10.0;
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PIN(pos_bw) = 5.0;
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PIN(pos_bw) = 5.0;
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PIN(vel_bw) = 40.0;
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PIN(vel_bw) = 40.0;
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PIN(vel_d) = 2.0;
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PIN(vel_d) = 4.0;
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PIN(max_vel) = 25.0;
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PIN(max_vel) = 25.0;
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PIN(max_acc) = 250.0;
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PIN(max_acc) = 250.0;
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PIN(min_pos) = -10.0;
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PIN(min_pos) = -10.0;
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PIN(max_pos) = 10.0;
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PIN(max_pos) = 10.0;
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PIN(auto_step) = 1.4;
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PIN(auto_step) = 1.4;
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PIN(inertia) = 0.0001;
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PIN(inertia) = 0.0002;
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}
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}
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static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
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static void nrt(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
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@ -292,4 +292,4 @@ hal_comp_t idm_comp_struct = {
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.frt_stop = 0,
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.frt_stop = 0,
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.ctx_size = 0,//sizeof(struct idm_ctx_t),
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.ctx_size = 0,//sizeof(struct idm_ctx_t),
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.pin_count = sizeof(struct idm_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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.pin_count = sizeof(struct idm_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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};
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