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actpackplan

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actpackplan [2020/07/09 20:42]
bbaig [Controlling the motor]
actpackplan [2020/07/09 20:43] (current)
bbaig [Controlling the motor]
Line 84: Line 84:
   - Set Proportional (kp) and Integral (ki) gains. kp = 100 and ki = 32 are good starting points.   - Set Proportional (kp) and Integral (ki) gains. kp = 100 and ki = 32 are good starting points.
   - Click "Set Gains"   - Click "Set Gains"
-  - Select ​"Impedance" ​in the "​Controller:" ​dropdown+  - Select Impedance in the "​Controller" ​drop-down list
   - Click "Set Controller"​   - Click "Set Controller"​
   - Set K and B as desired. As a starting point K = 200 and B = 0 will give you a weak spring. ​   - Set K and B as desired. As a starting point K = 200 and B = 0 will give you a weak spring. ​
actpackplan.txt ยท Last modified: 2020/07/09 20:43 by bbaig