Low level controller for the Hubo 2 and Hubo 2+ platforms designed by Daniel M. Lofaro. The system is based on the IPC called ACH by Neil Dantam and Mike Stilman.
If an iteration of huboLoop takes significantly longer than the desired control rate, future timing may be off. Consider what happens if a huboLoop iteration taks 20ms. The next several control cycles may be shortened.
If an iteration of huboLoop takes significantly longer than the desired control rate, future timing may be off. Consider what happens if a huboLoop iteration taks 20ms. The next several control cycles may be shortened.