Create control loop for PID - Githubissues

sbgisen / vesc

VESC Interface for ROS

Apache License 2.0

47 stars 34 forks source link

Create control loop for PID #48

Closed nyxrobotics closed 1 year ago

nyxrobotics commented 1 year ago

Change Summary

The control loop for PID control has been made independent from the Hardware Interface. It does not affect any operation other than PID servo.

Details

fix #34
fix #37

Impacts

The behavior of robots that have been using PID mode may change, so it is necessary to check the operation.

Additional Information

The mechanism is different only in PID control mode.
In the future, it would be better to create a separate hardware interface for PID control. (vesc_pid_hw_interface with pid position control)