Summary
In #9 a test plan will be created to define how feedforward gains will be found for the arm/wrist. The objective of this task is to implement commands that can be bound to buttons (or some other user interface) for automatic determination of those constants
Work Scope
Create a set of commands for finding kS, kG, kA, and kV (does not need to be a 1:1 mapping if multiple gains can be found at once)
redPlover
commented
1 year ago
Summary In #9 a test plan will be created to define how feedforward gains will be found for the arm/wrist. The objective of this task is to implement commands that can be bound to buttons (or some other user interface) for automatic determination of those constants
Work Scope
Verification