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