To make tuning easier and to mitigate errors, I'd like to make all units on the arduinos SI base units and do any scaling in processing.
Notes on the scales for kp and kd:
kp should be ranged so that at it's max, the miniwec commands max torque at the limit of travel.
kd is about good now, just needs to be scaled for SI units
Other notes:
The power variable should consider torque saturation so it doesn't over estimate.
To make tuning easier and to mitigate errors, I'd like to make all units on the arduinos SI base units and do any scaling in processing.
Notes on the scales for kp and kd: kp should be ranged so that at it's max, the miniwec commands max torque at the limit of travel. kd is about good now, just needs to be scaled for SI units Other notes: The power variable should consider torque saturation so it doesn't over estimate.