Hi, apologies if I’m missing this but I don’t seem to understand the starting condition for the manual tuning procedure.
When Step 1 in the tuning procedure says: " Set vel_integrator_gain gain to 0" and * Make sure you have a stable system. If it is not, decrease all gains until you have one." It does not explicitly state which system state we should be in during tuning.
What axis state, command mode and/or pos/vel setpoint should we be operating while conducting the tuning. Should the motors be installed in the target application or standalone on the bench? If tuning should be done in the application, for example I have a two wheeled differential drive robot, should tuning be done with the robot on the target terrain?
Thanks for all your great work and any guidance with this issue.