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