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robotology / whole-body-controllers

Simulink-based whole body controllers for humanoid robots.
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Minor fixes and improvements of the YOGA-controller+matlab-simulator model #125

Closed nunoguedelha closed 3 years ago

nunoguedelha commented 3 years ago

Follow-up of:

TO-DO

  • [x] Restore "measured joint torques" in the scopes visualizer.
  • [x] When Config.EMERGENCY_STOP_WITH_ENCODER_SPIKES is OFF, at least a warning is triggered by joint encoder spikes.
nunoguedelha commented 3 years ago

When Config.EMERGENCY_STOP_WITH_ENCODER_SPIKES is OFF, at least a warning is triggered by joint encoder spikes

  1. Replaced the boolean flags Config.EMERGENCY_STOP_WITH_JOINTS_LIMITS and Config.EMERGENCY_STOP_WITH_ENCODER_SPIKES by enumerations (None, Warning, EmergencyStop).
image
  1. The "Assertion" block was replaced by a "Variant Sub-system" in order to trigger either a Warning or a Stop.
image
  1. Simplified the function wbc.checkInputSpikes(...), also removing the use of persistent instruction. Instead, two inputs were used (u and u_prev), as we can se in the above diagram.