RLPSIJ #

None

Pins #

• r:
• l:
• psi:
• j:
• load:
• friction:
• damping:
• polecount:
• fb_offset:
• cmd_mode:
• q_cmd:
• d_cmd:
• iq_fb:
• id_fb:
• uq_fb:
• ud_fb:
• abs_pos_fb:
• com_pos:
• en_out:
• en:
• test_cur:
• test_vel:
• rl_ki:
• vel_ki:
• vel_kp:
• rl_time:
• vel_time:
• lpf:
• timer:
• multi_pos:
• state:
• vel:
• acc:
• last_pos:
• error_sum:
• i0:
• i1:
• i2:
• i3:

Source: .c File