Gyro controls #17
Gyro controls #17
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| @@ -275,6 +297,10 @@ void DiffDriveBaseController::update(const ros::Time& now, const ros::Duration& | |||
| double right_dx = angles::shortest_angular_distance(right_last_position_, right_pos)/radians_per_meter_; | |||
| double left_vel = static_cast<double>(left_->getVelocity())/radians_per_meter_; | |||
| double right_vel = static_cast<double>(right_->getVelocity())/radians_per_meter_; | |||
| double effort_l = static_cast<double>(left_->getEffort()); | |||
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Is the effort that is being read from the motor being used anywhere?
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I will remove the getEffort part.
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Other than a few comments, LGTM. Once you make the suggested changes, could you rebase everything to a single commit? |
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Yes will do. I was just waiting for the demo to get over to do the final On Thu, Apr 28, 2016 at 10:35 AM, Derek [email protected] wrote:
Bhavya Dayananda Kattapuni |
P controller using gyro feedback gain on effort around 6 gain on velocity around 0.8
This is the code without the testing enhancements