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