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2 changed files with 4 additions and 7 deletions

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@ -19,9 +19,6 @@ pid0.vel_d = idm0.vel_d
idm0.torque = pid0.torque_cmd
idm0.fb_torque = pid0.fb_torque_cmd
vel1.torque = 0
vel2.torque = 0
conf0.max_pos_error = 0
conf0.max_sat = 10
conf0.vel_g = 1
@ -31,4 +28,4 @@ term0.wave2 = idm0.vel_cmd
term0.wave4 = pid0.fb_torque_cmd
term0.gain4 = 100
term0.send_step = 21
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) {
PIN(ji) = 10.0;
PIN(pos_bw) = 5.0;
PIN(vel_bw) = 40.0;
PIN(vel_d) = 4.0;
PIN(vel_d) = 2.0;
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) = 0.0002;
PIN(inertia) = 0.0001;
}
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),
};
};