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Implement low-pass filter for estimated friction torque #892

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merged 6 commits into from
Sep 25, 2024

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isorrentino
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This PR implements:

  • a low-pass filter for filtering the estimated friction torque
  • a saturation for the estimated friction torque

@isorrentino isorrentino force-pushed the hjtc/additional_features branch from 59d7ba2 to b45d20f Compare September 23, 2024 15:03
@GiulioRomualdi
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Hi @isorrentino can you remove the white space?

@isorrentino isorrentino force-pushed the hjtc/additional_features branch from b45d20f to 632013f Compare September 23, 2024 15:07
@isorrentino
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Hi @isorrentino can you remove the white space?

Done

@GiulioRomualdi GiulioRomualdi enabled auto-merge (squash) September 23, 2024 19:53
@@ -66,13 +67,15 @@ struct MotorTorqueCurrentParameters
double kp; /**< proportional gain */
double maxCurr; /**< maximum current */
std::string frictionModel; ///< friction model
double max_output_friction; /**< maximum output of the friction model */
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Can you use the style of the remaining part of the code?

@GiulioRomualdi
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9afee9a sob. I've fixed the changelog manually :(

@isorrentino
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Hi @GiulioRomualdi I think the failure is not related to this PR

99% tests passed, 1 tests failed out of 149

Total Test time (real) = 630.17 sec

Errors while running CTest
The following tests FAILED:
	120 - memcheck_ArucoDetectorTestUnitTests (Failed)
Error: Process completed with exit code 8.

@GiulioRomualdi GiulioRomualdi enabled auto-merge (squash) September 25, 2024 13:09
@GiulioRomualdi GiulioRomualdi merged commit 1bf39b1 into ami-iit:master Sep 25, 2024
9 of 10 checks passed
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3 participants