Measurements
The following variables are located in the /driver folder.
powerf [W]
Actual power throughput. The sign denotes the direction, where positive means from the power supply to the motor and vice versa.
energy [J]
Energy transferred since the last reboot. (The negative energy (e.g. regeneration) decreases the value. On the other hand, the accumulated absolute value can be found in /permanents/)
Filtering setup
In the output stage, to expose the values with a meaningful dynamics, the driver applies filtering some of the readings. The amount of the filtering can be adjusted using two parameters: kf and kr.
If a state variable's name ends with "f", it indicates that the presented reading has been filtered using the kf and kr settings. Example: /driver/motor/curentqf
kf [lpf]
Synchronous filtering gain for measurements (LPF). The higher the value, the more "trust" is assigned to the value averaged during the last electrical revolution.
kr [lpf]
Filtering gain for measurements (LPF). The higher the value, the more "trust" is assigned to the exponentially filtered value.