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Lucien Renaud 2023-05-24 21:51:01 +02:00
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@ -96,7 +96,7 @@ float dist_angle(float newAngle, float prevAngle) // return the difference modul
return diff;
}
```
```
## Tuning the PIDs
To achieve position control it is necessary to have first, a velocity controller well tuned, as they are in cascade. (SimpleFOC implementation and diagram)