401 B
401 B
\theta_d^f : \theta requested in firmware units
\epsilon = \theta_d^f - \theta^f
Error in firmware units
\lambdais the duty cycle, aka the PWM
\epsilon^f = \epsilon \frac{4096}{2\pi}
12 bits
Firmware duty cycle
\lambda^f = K_p \epsilon^f
\lambda = K_p K_g\epsilon
R = 2.5\Omega
\lambda = \epsilon K_p K_g
K_g = \frac{\lambda}{\epsilon K_p }