conf/template/id_mot.txt

@@ -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

shared/comps/idm.c

@@ -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),
-};
+};