# AKCPU2

From DIDEAS Wiki

## SG Amps / Bridge Ref

INA326 based amplifiers.

340 ohm (full) bridge is driven from 5.0V supply though 470 (.1%) resistor. Thus bridge voltage is 2.39V (6.2mA). Actual value of 5V supply can be read from CPU.

- SG1 (compression??) : R1 = 2.0k, R2 parallel 1.58M -> gain of 790
- SG2 (moment) : R1 = 4.7k, R2 parallel 1.58M -> gain of 336

## firmware

4-23-07 :

- added state early_stance

4-24-07 :

- removed friction compensation
- acceptable state machine completed

4-25-07 :

- added idle state where K=0, B=10
- removed VPM power
- experimented with impulse power where current is a function of torque
- finalized with i=k*(tau-40nM)^2 - where i is 13 amps at tau=120nM
- finalized gains