mirror of https://github.com/rene-dev/stmbl.git
40 lines
830 B
Plaintext
40 lines
830 B
Plaintext
load conf
|
|
conf0.r = 1
|
|
conf0.l = 0.01
|
|
conf0.j = 0.000025
|
|
conf0.psi = 0.055
|
|
conf0.polecount = 2
|
|
conf0.mot_fb_polecount = 1
|
|
conf0.mot_fb_res = 16384
|
|
conf0.com_fb_polecount = 1
|
|
conf0.com_fb_res = 16384
|
|
conf0.joint_fb_polecount = 1
|
|
conf0.joint_fb_res = 16384
|
|
conf0.high_motor_temp = 80
|
|
conf0.max_mot_temp = 100
|
|
conf0.phase_time = 0.5
|
|
conf0.phase_cur = 1
|
|
conf0.max_vel = 800
|
|
conf0.max_acc = 80000
|
|
conf0.max_force = 1
|
|
conf0.max_dc_cur = 15
|
|
conf0.max_ac_cur = 4
|
|
conf0.fb_polecount = 1
|
|
conf0.fb_res = 2048
|
|
conf0.cmd_res = 16384
|
|
conf0.max_dc_volt = 380
|
|
conf0.max_hv_temp = 90
|
|
conf0.max_pos_error = 1.5
|
|
conf0.high_dc_volt = 350
|
|
conf0.low_dc_volt = 24
|
|
conf0.high_hv_temp = 70
|
|
conf0.fan_hv_temp = 60
|
|
conf0.g = 0.99
|
|
conf0.pos_p = 100
|
|
conf0.vel_p = 2000
|
|
conf0.vel_i = 5
|
|
conf0.vel_g = 1
|
|
conf0.cur_p = 0.2
|
|
conf0.cur_i = 0.0001
|
|
conf0.max_sat = 0.2
|