YPID #

None

Pins #

• pos_ext_cmd: cmd in (rad)
• pos_fb: feedback in (rad)
• pos_error: error out (rad)
• vel_ext_cmd: cmd in (rad/s)
• vel_fb: feedback in (rad/s)
• vel_cmd: cmd out (rad/s)
• vel_error: error out (rad/s)
• vel_min: minimum velocity error 0.3
• enable:
• out:
• pos_p: 10
• vel_p: 0.5
• vel_i: 0.005
• vel_ff: 1.0
• max_vel:
• max_acc:
• max_out:
• vel_sat:
• out_sat:
• saturated:

Source: .c File