PID control cycle depends on the hardware interface, so it is not possible to control the start and end behavior.
When the number of motors increases, the control cycle decreases.
A problem with one motor will cause all the motors to run out of control.
To be considered
In the case of speed control and torque control, VescHwInterface communicates with vesc.
For position control, VescServiController needs to communicate with vesc.
It is necessary to decide how to design the handling of each class.
Abstract
PID control cycle depends on the hardware interface, so it is not possible to control the start and end behavior. When the number of motors increases, the control cycle decreases. A problem with one motor will cause all the motors to run out of control.
To be considered