ID_SYS_SL #

# id_sys without the encoder: link pid, link acim_foc, link sl_acim, link id_sys_sl.
# idm sweeps vel_offset +- max_vel (default 125 +- 75 = 50..200 rad/s), one
# direction, so sl_seq stays on the observer. idm starts once pid is enabled.
# J and d come out as usual. f and o are both a constant torque here and
# split arbitrarily: read f + o, and take f from an encoder run.
# Set sl_seq0.acc >= idm0.max_acc, or sl_seq's ramp cuts the profile.
link id_sys
idm0.en = sl_seq0.pid_en
idm0.vel_offset = 125
idm0.max_vel = 75
idm0.min_pos = -50
idm0.max_pos = 50
# id_mot sets pid0.vel_bw = idm0.vel_bw (40): too fast on the observer
idm0.vel_bw = 20
sl_seq0.vel_cmd = idm0.vel_out
pid0.vel_ext_cmd = sl_seq0.vel_ref
pid0.acc_ext_cmd = sl_seq0.acc_ref