ID_PID #

load ids

ids0.rt_prio = 4



ids0.en = fault0.en_out

pid0.pos_ext_cmd = ids0.pos_cmd

pid0.vel_ext_cmd = ids0.vel_cmd

pid0.acc_ext_cmd = ids0.acc_cmd



pid0.pos_bw = ids0.pos_bw

pid0.vel_bw = ids0.vel_bw

pid0.vel_d = ids0.vel_d



ids0.pos_error = pid0.pos_error

ids0.vel_error = pid0.vel_error



ids0.cur_bw = conf0.cur_bw



conf0.max_pos_error = 0

conf0.max_sat = 10

conf0.vel_g = 1



term0.wave0 = ids0.pos_cmd

term0.wave2 = ids0.vel_cmd

term0.wave4 = ids0.min_cost

term0.gain4 = 20

#term0.wave1 = ids0.cost

#term0.gain1 = 20



term0.wave5 = ids0.pos_bw

term0.gain5 = 1.0;

term0.wave6 = ids0.vel_bw

term0.gain6 = 0.1

term0.wave7 = ids0.vel_d

term0.gain7 = 10.0



term0.send_step = 21