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72439aa8

Commit 72439aa8 authored 4 days ago by Christian Dreher

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fix: Max PWM values, clamping, PID initialization, shape control targets

parent 74e39c43

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1 merge request!62Hand control rework

Changes 8

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source/devices/ethercat/hand/armar7/njoint_controller/Shape.cpp 11 additions, 3 deletions

.../devices/ethercat/hand/armar7/njoint_controller/Shape.cpp
source/devices/ethercat/hand/armar7/sub_device/absolute/Device.cpp 2 additions, 0 deletions

...vices/ethercat/hand/armar7/sub_device/absolute/Device.cpp
source/devices/ethercat/hand/armar7/sub_device/relative/Device.cpp 2 additions, 0 deletions

...vices/ethercat/hand/armar7/sub_device/relative/Device.cpp
source/devices/ethercat/hand/armar7de/joint_controller/PositionVelocityPWMCascadedController.h 18 additions, 16 deletions

.../joint_controller/PositionVelocityPWMCascadedController.h
source/devices/ethercat/hand/armar7de/joint_controller/RelativePosition.cpp 1 addition, 1 deletion

...ercat/hand/armar7de/joint_controller/RelativePosition.cpp
source/devices/ethercat/hand/armar7de/joint_controller/RelativePosition.h 9 additions, 1 deletion

...thercat/hand/armar7de/joint_controller/RelativePosition.h
source/devices/ethercat/hand/armar7de/joint_controller/Velocity.cpp 1 addition, 1 deletion

...ices/ethercat/hand/armar7de/joint_controller/Velocity.cpp
source/devices/ethercat/hand/armar7de/joint_controller/Velocity.h 9 additions, 1 deletion

...evices/ethercat/hand/armar7de/joint_controller/Velocity.h

with 53 additions and 23 deletions

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