Control
Control parameters by mode
Pulsar Python SDK separates command-scoped ControlParams from readable/writable Parameters.
Command-scoped fields
Every command mapping requires ControlParams.COMMAND.
ControlParams field |
Torque | Velocity | Position | Impedance |
|---|---|---|---|---|
COMMAND |
✓ | ✓ | ✓ | ✓ |
D_AXIS_CURRENT_KP, D_AXIS_CURRENT_KI |
✓ | |||
Q_AXIS_CURRENT_KP, Q_AXIS_CURRENT_KI |
✓ | |||
VELOCITY_KP, VELOCITY_KI |
✓ | ✓ | ||
TORQUE_FEEDFORWARD |
✓ | ✓ | ✓ | |
POSITION_KP |
✓ | |||
IMPEDANCE_STIFFNESS, IMPEDANCE_DAMPING |
✓ | |||
IMPEDANCE_INERTIA |
✓ | |||
IMPEDANCE_VELOCITY_COMMANDED |
✓ | |||
IMPEDANCE_ACCELERATION_COMMANDED |
✓ |
Optional command fields may be NaN to retain the current value. Virtual models expose shared d/q current gains and reject different finite d-axis and q-axis values in one command.
Stored parameters
Common writable control Parameters include:
- torque, position, velocity;
- velocity-profile and acceleration-profile limits;
- impedance stiffness and damping;
- velocity and position loop gains;
- direction inversion;
Presets
TorqueGainPreset and VelocityGainPreset provide AGGRESSIVE, BALANCED, and SOFT choices that are pre-tuned by Pulsar for different application requirements.
Limits
Positive upper limits may use +inf and negative lower limits may use -inf where documented. Other command and parameter values must be finite.
See Commands and parameters and the API reference for exact names and validation.