FlexSEA Wiki

A WEARABLE ROBOTICS TOOLKIT

User Tools

Site Tools


fxapifunctions

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
fxapifunctions [2019/04/15 17:25]
flabelle
fxapifunctions [2019/05/06 12:03] (current)
flabelle [void setGains(int devId, int g0, int g1, int g2, int g3)]
Line 227: Line 227:
  
  
-Sets the gains used by PID controllers ​on the FlexSEA device.+Sets the gains used by PID controllers, namely for the current, position and impedance controllers.
  
-  * **Parameters** ​+  * **Parameters ​- Current** 
     *devId: opaque handle for the device.     *devId: opaque handle for the device.
-    *g0: Stiffness factor ​(used for current in current control & position in position/impedance control)  +    *g0: Proportional gain (kp)  
-    *g1: Damping ​factor ​(used for current in current control & position in position/​impedance control)  +    *g1: Integral gain (ki) 
-    *g2: Proportional (used for for the underlying current control within the impedance controller)  +    *g2: N/A 
-    *g3: Integral gain (used for for the underlying current control within the impedance controller) ​+    *g3: N/A 
 + 
 +  * **Parameters - Position**  
 +    *devId: opaque handle ​for the device. 
 +    *g0: Proportional gain (kp)  
 +    *g1: Integral gain (ki) 
 +    *g2: N/
 +    *g3: N/A 
 + 
 +  * **Parameters - Impedance**  
 +    *devId: opaque handle for the device. 
 +    *g0: Stiffness (K
 +    *g1: Damping (B
 +    *g2: Proportional ​gain (kp) (used for for the underlying current control within the impedance controller)  
 +    *g3: Integral gain (ki) (used for for the underlying current control within the impedance controller) ​
  
   * **Returns** ​   * **Returns** ​
     * Nothing.     * Nothing.
fxapifunctions.1555349109.txt.gz · Last modified: 2019/04/15 17:25 by flabelle