23 lines
233 B
YAML
Executable File
23 lines
233 B
YAML
Executable File
name: 'hybridPid'
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# 力控参数
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force_mass: 2.5
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force_damp: 25
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Kp_force: 2.0 #0.6
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Kd_force: 0.0
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Ki_force: 0.0 #0
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# 位控参数
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Kp: [20,20]
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Ki: [0.2,0.2]
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Kd: [10,10]
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# 位控参数
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Kp_R: [1,1,1]
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Ki_R: [0,0,0]
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Kd_R: [1,1,1]
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