IDM #

None

Pins #

• en:
• state:
• sub_state:
• timer:
• acc_time:
• vel_time:
• time:
• freq:
• amp:
• min_pos:
• max_pos:
• max_vel:
• max_acc:
• pos:
• pos_cmd:
• vel_cmd:
• acc_cmd:
• ji:
• fi:
• di:
• li:
• torque:
• fb_torque:
• inertia_sum:
• friction_sum:
• damping_sum:
• offset_sum:
• inertia:
• damping:
• friction:
• offset:
• pos_bw:
• vel_bw:
• vel_d:
• sys:
• target:
• auto_step:

Source: .c File