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Nils Schulte b0047fbde2 velocity working? 
```
y r 125 reg.pid_velocity 0.001 2.5 0.0 0.01 1000.0 3.0 100.0 \
  && y cmd 125 restart
y pub --period=0.1 \
    10:reg.udral.service.common.readiness '!$ "B(1,1) * 3"' \
    50:reg.udral.physics.dynamics.rotation.planar '{torque: 4, kinematics: {angular_position: NAN, angular_velocity: !$ "A(1,1) * 10"}}'
```
2025-07-20 14:45:01 +02:00
..
lib
cyphal?
2025-06-14 11:46:38 +02:00
src
velocity working?
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.gitignore
canard!
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can_if_up.sh
save lut?
2025-06-16 18:33:00 +02:00
platformio-nunavut.py
cyphal?
2025-06-14 11:46:38 +02:00
platformio.ini
save lut
2025-06-29 18:19:22 +02:00
README.md
velocity working?
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README.md

Develop

create compile_commands.json: ´´´ pio run -t compiledb ´´´

Tuning

y rl 125, | y rb
y r 125 reg.pid_velocity 0.001 2.5 0.0 0.01 1000.0 3.0 100.0  && y cmd 125 restart
y pub --period=0.1 \
    10:reg.udral.service.common.readiness '!$ "B(1,1) * 3"' \
    50:reg.udral.physics.dynamics.rotation.planar '{torque: 4, kinematics: {angular_position: NAN, angular_velocity: !$ "A(1,1) * 10"}}'