Send Center of Mass State to Leg Threads at 1kHz instead of using 50Hz MPC state (Fix #77)

LouKordos / walking_controller

The main walking controller code for the Bipedal Robot.

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Send Center of Mass State to Leg Threads at 1kHz instead of using 50Hz MPC state (Fix #77) #79

Closed LouKordos closed 3 years ago

LouKordos commented 3 years ago

To give the Leg Thread a more recent Center of Mass State, it now receives the full state at 1kHz from the simulation, instead of using the state received at 50Hz by the MPC. This fixes #77