IDM #
Pins #
| Name | Description |
|---|---|
| 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 |
References #
Source: .c File