Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol
Dependencies: mbed-dev-f303 FastPWM3
Superseded by: https://github.com/bgkatz/motorcontrol
Diff: structs.h
- Revision:
- 26:2b865c00d7e9
- Parent:
- 24:58c2d7571207
- Child:
- 28:8c7e29f719c5
--- a/structs.h Sun Apr 09 03:05:52 2017 +0000 +++ b/structs.h Mon May 01 15:22:58 2017 +0000 @@ -30,6 +30,7 @@ float i_d_ref, i_q_ref; int loop_count; int mode; + float p_des, v_des, kp, kd, t_ff; float cogging[128]; } ControllerStruct;