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LouKordos / walking_controller

The main walking controller code for the Bipedal Robot.
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Impedance controller might be running slightly below desired loop frequency #7

Open LouKordos opened 3 years ago

LouKordos commented 3 years ago

The controller logs show an average loop time of ~1020µS for every impedance control thread,which is slightly above the limit for the desired 1kHz frequency.

LouKordos commented 3 years ago

To make sure it's not being artificially limited, comment out nanosleep in biped plugin and look at iteration times.

To test this, solve #56.