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- # PID loop signals
- setp pid.0.Pgain [JOINT_0]P
- setp pid.0.Igain [JOINT_0]I
- setp pid.0.Dgain [JOINT_0]D
- setp pid.0.bias [JOINT_0]BIAS
- setp pid.0.FF0 [JOINT_0]FF0
- setp pid.0.FF1 [JOINT_0]FF1
- setp pid.0.FF2 [JOINT_0]FF2
- setp pid.0.deadband [JOINT_0]DEADBAND
- setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
- net x-index-enable pid.0.index-enable <= joint.0.index-enable => hm2_[HOSTMOT2](BOARD).0.encoder.00.index-enable # Adjust Encoder Number !!!
- net x-enable pid.0.enable <= joint.0.amp-enable-out => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
- net x-output pid.0.output => hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd
- net x-pos-cmd pid.0.command <= joint.0.motor-pos-cmd
- net x-vel-fb pid.0.feedback-deriv => hm2_[HOSTMOT2](BOARD).0.encoder.00.velocity # Adjust Encoder Number !!!
- net x-pos-fb pid.0.feedback <= joint.0.motor-pos-fb => hm2_[HOSTMOT2](BOARD).0.encoder.00.position # Adjust Encoder Number !!!
- setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
- setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
- setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
- setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
- setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
- setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
- setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type 1
- setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL
- setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC
- setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
- setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
- setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
- setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
- setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
- setp hm2_[HOSTMOT2](BOARD).0.encoder.00.scale [JOINT_0]ENCODER_SCALE
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