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updated firmware

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This commit is contained in:
0x23 2025-08-28 14:07:54 +02:00
parent 9891b8ed44
commit f17ca0c820
11 changed files with 273 additions and 56 deletions
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6
firmware/MotionControllerRP/src/servo_control/servo_controller.cpp
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@ -34,9 +34,9 @@ void ServoController::init(float max_motor_amplitude) {
sleep_ms(1);
}
velocity_lowpass.set_time_constant(0.0025f);
pos_controller.set_parameter(150.0f, 50000.0f, 0.0f, Constants::PI_F*2.0F, Constants::PI_F*0.5F);
velocity_controller.set_parameter(0.2f, 100.0f, 0.0f, Constants::PI_F*0.45f, Constants::PI_F*0.45f);
velocity_lowpass.set_time_constant(0.004f);
pos_controller.set_parameter(75.0f, 50000.0f, 0.0f, Constants::PI_F*2.0F, Constants::PI_F*0.5F);
velocity_controller.set_parameter(0.2f, 150.0f, 0.0f, Constants::PI_F*0.45f, Constants::PI_F*0.45f);
}
void ServoController::set_encoder_lut(LookupTable& enc_to_pos_lut) {