Prestonr reverting platinum prof cmds to gold #140
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Needed to switch to normal jsd
Putting back in jsd inspect context call
kwehage
reviewed
Oct 3, 2024
src/jsd/platinum_actuator.cc
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| jsd_cmd.profile_decel = | ||
| EuToCnts(last_cmd_.actuator_prof_vel_cmd.profile_accel); | ||
| } | ||
| double pos_eu, vel; |
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Nit, initialize variables to some default value. Don't rely on fastcat_trap_update_vel to initialize the values for you
double pos_eu = 0.0;
double vel = 0.0;
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@kwehage This is how it was done in multiple locations previously. I agree with this nit and have changed it in multiple locations :)
kwehage
requested changes
Oct 3, 2024
preston-rogers
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prestonr-reverting-platinum-prof-cmds-to-gold
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Modified the profile commands in platinum to mimic the way the gold driver performs it. This means it sends CSP/CSV/CST commands based on a software-generated trapezoidal trajectory.