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Fix return to stand when close is finished. #39
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Ishadijcks
previously requested changes
Jan 16, 2020
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I'm glad you asked. Have fun with this. Currently, the goal for the x position (achieved by the roll torque) is the x location of the stable foot. The controller is too weak to actually get there, it merely applies enough force to avoid falling. Hence, it cannot start oscillating around the goal, so D is not necessary. Conversely, when the gait moves from one leg to the other, the goal promptly moves to the other leg, causing a very high change in error. This caused D to give the exoskeleton a push, which caused some annoying oscillations. Hence, the D has been removed. |
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That's all fine, just mention it somewhere so other people or future you knows why it changed |
Olavhaasie
approved these changes
Jan 17, 2020
Merged
Roelemans
added a commit
that referenced
this pull request
Jan 28, 2020
* Fix return to stand when close is finished. (#39) * Fix return to stand when close is finished. * Fix style * Fix style * Remove sound scheduler dependency (#41) * Feature/pm 246 stairs in sim (#40) * Fix return to stand when close is finished. * Fix style * Fix style * Add stairs to simulation * Fix CMake and add comment Co-authored-by: Roelemans <47626418+Roelemans@users.noreply.github.com>
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Description
Return to home stand when close is finished. Remove D from the roll PD because of reasons.
Changes