35233830538
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Ran 17 Sep 2026 02:30PM UTC

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Run time 1min

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Committed 17 Sep 2026 02:28PM UTC coverage: 72.586%. Remained the same

Build # 35233830538

Build Type

push

github

Committed by

NGierden

Commit Message

Set the AK80-6 velocity kd to 1.0 and record what the bench showed

1.2 was the MotorSpec class default rather than a value chosen for this motor,
and no Simulink model references the AK80-6 at all. 1.0 is the only value in
the project with provenance: the V1.1 Simulink model commands Kd = 1 and
motor_control.py uses MOTOR_KD_CMD = 1.0. Measured cost on the bench is 3.7
points of velocity tracking, so this aligns the number without changing much.

The comment records the one measurement worth keeping and, more importantly,
why the bench numbers do not characterise the motor. The same motor at the same
command and kd reached 1.9x the speed while the second motor was also running,
so the drag belongs to the rig configuration. Hold time biases it as well: 2 s
per step understates tracking against 10 s, and an earlier reading of those
short holds wrongly suggested the friction was not Coulomb plus viscous. With a
3 s settle and 10 s holds it fits that model at R2 0.998, giving Coulomb 0.57
and viscous 0.262 per rad/s at 82% tracking.

None of this is a substitute for tuning kd on the assembled system under load,
which the comment says plainly. Still unverified under load.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

Coverage Stats

1496 of 2061 relevant lines covered (72.59%)

0.73 hits per line

Coverage Regressions

Lines	Coverage	∆	File
6	97.4	0.0%	motor_python/definitions.py

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ID	Job ID	Ran	Files	Coverage
1	35233830538.1	17 Sep 2026 02:30PM UTC	13	72.59	GitHub Action Run

TUM-Aries-Lab / motor-module / 35233830538
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