adding optimizer tool and found better parameters

matlab/Readme.md

@@ -39,6 +39,63 @@ iqVolts-->iqMeas
 iqMeas--->actPos
 ```
 
+Optimizing params
+-----------------
+```
+    %Kaff = 1/(Ts*Ts*K) = 1/((11.84*2*np.pi)**2/5000**2) = 4517.278506241803
+    %Kfff=100
+
+
+    pb.Kp=25;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=1/(1.548e04*(pb.Ts^2));pb.MaxInt=1000;
+    %19.8Hz 0dB K=(19.8*2*np.pi)**2=15477.1 Ts=5kHz=.2ms
+    %Kaff = 1/(Ts*Ts*K) = 1/((19.8*2*np.pi)**2/5000**2) = 1615.2877200403302
+
+
+/opt/gfa/python-2.7/2018.12/bin/python  -c 'import wx'
+OTHER VERSION DO NOT YET HAVE WX
+
+
+
+********** ORIG **************
+Motor[1].Servo.Kp=25
+Motor[1].Servo.Kvfb=400
+Motor[1].Servo.Ki=0.02
+Motor[1].Servo.Kvff=350
+Motor[1].Servo.Kaff=5000
+Motor[1].Servo.MaxInt=1000
+Motor[1].Servo.Kfff=0
+
+Motor[2].Servo.Kp=22
+Motor[2].Servo.Kvfb=350
+Motor[2].Servo.Ki=0.02
+Motor[2].Servo.Kvff=240
+Motor[2].Servo.Kaff=1500
+Motor[2].Servo.MaxInt=1000
+Motor[2].Servo.Kfff=0
+
+
+
+
+********** OPTIMIZED **************
+Motor[1].Servo.Kp=25
+Motor[1].Servo.Kvfb=350
+Motor[1].Servo.Ki=0.02
+Motor[1].Servo.Kvff=350
+Motor[1].Servo.Kaff=1615. // 1/(1.548e04*(pb.Ts^2))
+Motor[1].Servo.MaxInt=1000
+Motor[1].Servo.Kfff=100
+
+Motor[2].Servo.Kp=22
+Motor[2].Servo.Kvfb=450
+Motor[2].Servo.Ki=0.02
+Motor[2].Servo.Kvff=450
+Motor[2].Servo.Kaff=4517
+Motor[2].Servo.MaxInt=1000
+Motor[2].Servo.Kfff=100
+
+
+
+