The name for the integrator time constant Ti is ki in the app which suggests it's a gain and not a time constant, i.e., it suggest it's the inverse of what it actually is.
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app.bot_params.outer_controller.Ti = app.kio.value[] |
The reason it's not working is that you cannot simply switch from position feedback to velocity feedback like you did in 31b33d1 you need to completely retune the controller for that. You also removed the negative gain, why?
The name for the integrator time constant
Tiiskiin the app which suggests it's a gain and not a time constant, i.e., it suggest it's the inverse of what it actually is.DyadBotComponents.jl/scripts/app.jl
Line 128 in 31b33d1
The reason it's not working is that you cannot simply switch from position feedback to velocity feedback like you did in 31b33d1 you need to completely retune the controller for that. You also removed the negative gain, why?