mirror of https://github.com/rene-dev/stmbl.git
40 lines
830 B
Plaintext
40 lines
830 B
Plaintext
load conf
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conf0.r = 1
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conf0.l = 0.01
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conf0.j = 0.000025
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conf0.psi = 0.055
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conf0.polecount = 2
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conf0.mot_fb_polecount = 1
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conf0.mot_fb_res = 16384
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conf0.com_fb_polecount = 1
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conf0.com_fb_res = 16384
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conf0.joint_fb_polecount = 1
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conf0.joint_fb_res = 16384
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conf0.high_motor_temp = 80
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conf0.max_mot_temp = 100
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conf0.phase_time = 0.5
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conf0.phase_cur = 1
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conf0.max_vel = 800
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conf0.max_acc = 80000
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conf0.max_force = 1
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conf0.max_dc_cur = 15
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conf0.max_ac_cur = 4
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conf0.fb_polecount = 1
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conf0.fb_res = 2048
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conf0.cmd_res = 16384
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conf0.max_dc_volt = 380
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conf0.max_hv_temp = 90
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conf0.max_pos_error = 1.5
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conf0.high_dc_volt = 350
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conf0.low_dc_volt = 24
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conf0.high_hv_temp = 70
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conf0.fan_hv_temp = 50
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conf0.g = 0.99
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conf0.pos_p = 100
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conf0.vel_p = 2000
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conf0.vel_i = 5
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conf0.vel_g = 1
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conf0.cur_p = 0.2
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conf0.cur_i = 0.0001
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conf0.max_sat = 0.2
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