sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
current_controller_sim_conf.py
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1 """
2 Created on Mon Feb 9 13:55:16 2015
3 @author: adelpret
4 """
5 
6 from current_controller_conf import * # noqa
7 
8 CURRENT_OFFSET_ITERS = 0
9 # Number of itertion while control is disabled to calibrate current sensors
10 CURRENT_MAX = 1e6
11 # max motor current (security check of ControlManager)
12 CTRL_MAX = 1e6
13 # max desired current (security check of ControlManager)
14 CTRL_SATURATION = 1e6
15 # saturation of the control signal
16 IN_OUT_GAIN = 1.0
17 # factor to convert from a [-20.0 ; 20.0] Ampers value to the [-2048 ; 2048] 12bit DAC
18 # register
19 percentage_dead_zone_compensation = NJ * [0.0] # noqa
20 # percentage of dead zone to compensate (used by ControlManager)
21 percentage_bemf_compensation = NJ * [0.0] # noqa
22 kp_current = NJ * [0.0] # noqa
23 ki_current = NJ * [0.0] # noqa