Compute an effort demand from the effort error. As the effort PID loop is running on the motor boards, there's no PID loops involved here. We're just using the friction compensation algorithm to take into account the friction of the tendons. More...
#include "sr_mechanism_controllers/srh_joint_effort_controller.hpp"#include "angles/angles.h"#include "pluginlib/class_list_macros.h"#include <sstream>#include <math.h>#include "sr_utilities/sr_math_utils.hpp"#include <std_msgs/Float64.h>
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| namespace | controller |
Detailed Description
Compute an effort demand from the effort error. As the effort PID loop is running on the motor boards, there's no PID loops involved here. We're just using the friction compensation algorithm to take into account the friction of the tendons.
- Date:
- Wed Aug 17 12:32:01 2011
Copyright 2011 Shadow Robot Company Ltd.
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Definition in file srh_joint_effort_controller.cpp.