Implement better motor model#1475
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| auto v = I_stator * R + omega * kV; | ||
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| problem.subject_to(slp::abs(v) <= v_supply); | ||
| problem.subject_to(slp::abs((2 * v - omega * kV) * (2 * v - omega * kV) - |
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This will need a derivation or paper link eventually.
This reverts commit 2d4871d.
Re-write friction constraints for motor model
This reverts commit 3b3a56e.
this is cherry-pickable onto main
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Resolves #1245