mirror of https://github.com/rene-dev/stmbl.git
35 lines
604 B
Plaintext
35 lines
604 B
Plaintext
|
|
load idm
|
|
idm0.rt_prio = 4
|
|
|
|
idm0.en = fault0.en_out
|
|
pid0.pos_ext_cmd = idm0.pos_cmd
|
|
pid0.vel_ext_cmd = idm0.vel_cmd
|
|
pid0.acc_ext_cmd = idm0.acc_cmd
|
|
|
|
pid0.j_mot = idm0.inertia
|
|
pid0.d = idm0.damping
|
|
pid0.f = idm0.friction
|
|
pid0.l = idm0.load
|
|
|
|
pid0.pos_bw = idm0.pos_bw
|
|
pid0.vel_bw = idm0.vel_bw
|
|
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
|
|
|
|
term0.wave0 = idm0.pos_cmd
|
|
term0.wave2 = idm0.vel_cmd
|
|
term0.wave4 = pid0.fb_torque_cmd
|
|
term0.gain4 = 100
|
|
|
|
term0.send_step = 21
|