zebra
/
ZebraJointController
zebra joint controller firmware (originally from MIT HKC motor controller by benkatz)
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imax_vs_w.h
00001 #ifndef IMAX_VS_W 00002 #define IMAX_VS_W 00003 00004 /*max achievable magnitude current vs speed, for positive and negative works 00005 Speed ranges from 0 to 220 rad/s 00006 */ 00007 00008 float imax_pw[16] = {40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 36.0f, 32.0f, 28.0f, 24.0f, 21.0f, 17.0f, 14.0f, 11.0f, 7.0f, 4.0f, 2.0f}; 00009 float imax_nw[16] = {40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f, 40.0f};
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