Commit cc1c3ef7 authored by Jeroen Vreeken's avatar Jeroen Vreeken
Browse files

Use some more functions and variables in the ctrl file to make it

more readable.
parent 427cf793
......@@ -261,7 +261,7 @@ params {
# the pid controller. At low speed the value is untouched, but the
# output is limited when speed increases
# limit = offset + gain * speed
{ "azimuth_pid_limit", "offset", (float) 0.0006981317007977318308 }
{ "azimuth_pid_limit", "offset", (float) rpm2rads(100.0)/$(azimuth_gear) }
{ "azimuth_pid_limit", "gain", (float)-0.3 }
# speed limit on spg + pid just before we send it to the drive
{ "azimuth_speed_limit", "min", (float) rpm2rads(-3000.0)/$(azimuth_gear) }
......@@ -271,7 +271,7 @@ params {
# torque we allow the servodrive to actuate on the DT
{ "azimuth_torque", "value", (float) 10.0 }
# inverse gear ratio between DT and servodrive
{ "azimuth_position_gain", "gain", (float)-1/$(azimuth_gear) }
{ "azimuth_position_gain", "gain", (float)-1.0/$(azimuth_gear) }
# callibration value for position
{ "azimuth_position_offset","value", (float) 0.0 }
......@@ -290,7 +290,7 @@ params {
{ "azimuth_safety", "recover", (int) 0 }
{ "elevation_input_matrix", "constants", (float) { 0.5/$(elevation_gear), -0.5/$(elevation_gear) },
(float) { 1.0/$(elevation_gear), 1.0/$(elevation_gear) } }
(float) { 1.0/$(elevation_gear), 1.0/$(elevation_gear) } }
{ "elevation_output_matrix", "constants", (float) { $(elevation_gear), $(elevation_gear)/2.0 },
(float) { -$(elevation_gear), $(elevation_gear)/2.0 } }
......
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