The main walking controller code for the Bipedal Robot.
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Move contact and trajectory planner updates to Leg thread running at 1kHz, log execution time for each code block, add wrapper functions for threadsafe variable access #82
This PR moves the code responsible for updating lift-off position and the current gait phase, as well as the trajectory, to the left leg thread running at 1kHz. It also adds wrapper functions (get and set) to make variable access threadsafe.
Additionally, execution time for each code block in leg and MPC threads is logged into the csv files.
These improvements fix #75 and helps track down the cause of #80 .
This PR moves the code responsible for updating lift-off position and the current gait phase, as well as the trajectory, to the left leg thread running at 1kHz. It also adds wrapper functions (
getandset) to make variable access threadsafe.Additionally, execution time for each code block in leg and MPC threads is logged into the csv files.
These improvements fix #75 and helps track down the cause of #80 .