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