Elmo HARmonica, Tuning Manual

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Reducing the gains to KP = 20, KI = 15000 results in the following performance:
In order to gain stability at low velocities, we use gain scheduling and reduce the
gains at low speeds. We can see that the KI/KP factor is higher at low speed in order
to overcome friction.
Advanced manual tuning is very similar to manual tuning. The advance manual
tuning dialog box provides a multiple set of KP and KI parameters and the velocity
to which the gains refer. We will use one set of parameters each time and tune the
corresponding velocity.
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