Source

puma / NOTES

Diff from to
 6 green/white
 nc white/green
 
+
+
+-------
+
+Cross coupling
+command: 4 -40000
+to fix: 5 9000
+p5 command = p5 desired + p4 * (-40000/9000)
+
+command: 4 10000
+to fix: 6 -1200
+p6 command = p6 desired + p5 * (-10000 / 1200)