As of now the sweep interval for all joints is 20 millisec, i.e., self.current_sweep_interval = 0.02. So there is no controller really.
When more than 1 joint needs to move (and suppose the joints need to sweep different angular distances), the controller matters because we want the joint with the bigger distance to move faster at first, then slow down near the end.
As of now the sweep interval for all joints is 20 millisec, i.e.,
self.current_sweep_interval = 0.02. So there is no controller really.When more than 1 joint needs to move (and suppose the joints need to sweep different angular distances), the controller matters because we want the joint with the bigger distance to move faster at first, then slow down near the end.