Beispiel #1
0
        void DoAutoTuneAxis(PIDController pid, int index, Vector3d torque, Vector3d moi)
        {
            var accelerationInv = moi [index] / torque [index];

            // Don't tune when the available acceleration is less than 0.001 radian.s^-2
            if (accelerationInv > 1000)
            {
                return;
            }
            var kp = twiceZetaOmega [index] * accelerationInv;
            var ki = omegaSquared [index] * accelerationInv;

            pid.SetParameters(kp, ki, 0, -1, 1);
        }