Open adeguet1 opened 1 year ago
The PID class should have few more safety checks:
measured_jp
measured_jv
setpoint_jv
setpoint_jp
The PID class should have few more safety checks:
measured_jp
is within joint limits (+/- tolerance)measured_jv
is reasonable (maybe use trajectory generation max velocity x some factor)setpoint_jv
is capped (as we do forsetpoint_jp
). We could use trajectory generation velocity x some factor