History of Tuning EMC2/HAL PID Loops

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Added: 31a32,34

: Addition from jros (not an expert): I think that some of the non-standard PID module tuning parameters like FF0, FF1, FF2 and bias, have more sense if in torque mode, because they tend to represent a physical estimation of a priori needed torque (i.e.: FF1 viscous, FF2 inertial, bias gravity,...). I can not figure out FF1 meaning -for example- if controlling in velocity mode.

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	Revision 4 . . April 23, 2008 11:50 am by Jros
	Revision 3 . . March 22, 2007 12:43 am by Petev