name: 'hybridPid'


# 力控参数
force_mass: 2.5
force_damp: 25
Kp_force: 2.0  #0.6
Kd_force: 0.0
Ki_force: 0.0  #0


# 位控参数
Kp: [20,20]
Ki: [0.2,0.2]
Kd: [10,10]

# 位控参数
Kp_R: [1,1,1]
Ki_R: [0,0,0]
Kd_R: [1,1,1]