RISC-V CPU
Coming soon
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<h3>controls</h3>
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"text": "# $y_{d}$",
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"text": "## $K_{tj}$ : A Conversion Constant \n- Converts **task** to **joint** coordinates\n- Pay attention to units ($deg$ vs. $rad$ vs. $turns$, $\\frac{deg}{s}$ vs. $deg$, Tangential travel distance... etc!)\n- Is simply $\\dfrac{1}{K_{jt}}$\n\n",
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"text": "## Our desired position/value (What we hope to see)",
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"text": "# $K_{tj}$",
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"text": "## $G_{C}$ : Controller \n\nThis is where the PID gets implemented",
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"text": "# 1)\n## $G_{a}=\\frac{x_{3}}{x_{2}}$ : Actuator\n\n",
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"text": "# 3)\n## $G_{p}=\\frac{x_{4}}{x_{3}}$ : Plant Model\n\n",
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"text": "# $\\sum$\n",
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"text": "## $H_{s}=\\frac{x_{6}}{x_{5}}$ : Sensor Filter \n\n",
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"text": "# 2)\n## $H_{s}=\\frac{x_{5}}{x_{4}}$ : Sensor \n\n",
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"text": "# $G_{c}$",
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"text": "# $G_{a}$",
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"text": "# $G_{p}$",
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"text": "# $H_{c}$",
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"text": "$+$",
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"text": "## Our actual (real life) observation",
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"text": "## $K_{jt}$ : A Conversion Constant \n- Converts **joint** to **task** coordinates\n- Pay attention to units ($deg$ vs. $rad$ vs. $turns$, $\\frac{deg}{s}$ vs. $deg$, Tangential travel distance... etc!)\n- Is simply $\\dfrac{1}{K_{tj}}$\n\n",
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"text": "# $K_{jt}$",
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