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/sr_controller.hpp>#include <sr_robot_msgs/SetEffortControllerGains.h>
Go to the source code of this file.
Classes | |
| class | controller::SrhEffortJointController |
Namespaces | |
| 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.
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.
Definition in file srh_joint_effort_controller.hpp.