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A WEARABLE ROBOTICS TOOLKIT

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fxapifunctions

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fxapifunctions [2019/05/05 16:24]
jfduval [void setGains(int devId, int g0, int g1, int g2, int g3)]
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 - Current ​and Position** ​+  * **Parameters - Current**  
 +    *devId: opaque handle for the device. 
 +    *g0: Proportional gain (kp)  
 +    *g1: Integral gain (ki) 
 +    *g2: N/A 
 +    *g3: N/A 
 + 
 +  * **Parameters - Position** ​
     *devId: opaque handle for the device.     *devId: opaque handle for the device.
     *g0: Proportional gain (kp)      *g0: Proportional gain (kp) 
fxapifunctions.txt · Last modified: 2019/05/06 12:03 by flabelle