Once started, take 2 seconds to ramp up to a maximum of 10 kP. After 2 seconds the maximum disappears. At the same time KD min ramps down from 5 to 0
This is for physical safety. Your hand may be close to the limbs to zero them, so if their position is not set to 0 this will help them to slowly go to their given position.
(maybe this still fails if the arms received a multi turn command? Need to watch for this later when making arms)
Once started, take 2 seconds to ramp up to a maximum of 10 kP. After 2 seconds the maximum disappears. At the same time KD min ramps down from 5 to 0
This is for physical safety. Your hand may be close to the limbs to zero them, so if their position is not set to 0 this will help them to slowly go to their given position.
(maybe this still fails if the arms received a multi turn command? Need to watch for this later when making arms)