Chirp Controller

Description

This controller applies a user-defined sine wave that increases in frequency at a set rate. It can be used to characterize the bandwidth of the system.

Parameters

Parameter index order can be found in ControllerData.h.

• amplitude Amplitude, in Nm, of the torque sine wave.

• start_frequency Starting frequency for the chirp.

• end_frequency Ending frequency for the chirp.

• duration The duration for which the chirp is applied.

• yshift Shifts the center of the chirp if a value other than zero is desired.

• use_pid This flag turns PID control on (1) or off (0).

• p_gain Proportional gain for closed-loop control.

• i_gain Integral gain for closed-loop control.

• d_gain Derivative gain for closed-loop control.