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hapiel / Acrobot

The Acrobot is a robotic circus performer made by Daniel Simu
http://acrobot.nl/
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Safety feature if target and current pos are far away from each other #46

Closed hapiel closed 6 months ago

hapiel commented 8 months ago

If the new target pos and the old target pos are far away from each other, this suggests an error, like when the joystick takes over from the choreography, or when a choreo starts at an unexpected position. If this happens, linearly interpolate between the positions.

Set timer based on the size of the difference, and within that time run from a percentage of the old pos to the various new positions.

hapiel commented 8 months ago

If last input mode was not position (like torque or speed), then compare position with current position before rotating..

hapiel commented 8 months ago

Code done, needs to be tested on robot (push joystick beyond range, see if interpolation happens)