From 7250eae0fca02bf3357424a1c464dc4082fbd044 Mon Sep 17 00:00:00 2001
From: ArmarX User <armarx@kit.edu>
Date: Thu, 7 Feb 2019 18:34:37 +0100
Subject: [PATCH] control tweaks for armar6 head
---
.../JointController/JointPWMPositionController.cpp | 2 +-
.../JointController/PWMVelocityController.cpp | 3 ++-
2 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
index 4e059cd18..af1ca8a65 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
@@ -36,7 +36,7 @@ JointPWMPositionController::JointPWMPositionController(const std::string deviceN
posController.positionLimitHi = jointData->getSoftLimitHi();
// controller.positionLimitLoHard = dataPtr->getHardLimitLo();
posController.positionLimitLo = jointData->getSoftLimitLo();
- posController.p = 2.0f;
+ posController.p = 3.0f;
this->isLimitless = jointData->isLimitless();
}
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/PWMVelocityController.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/PWMVelocityController.cpp
index 544f76a1c..318dde917 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/PWMVelocityController.cpp
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/PWMVelocityController.cpp
@@ -22,7 +22,7 @@
* GNU General Public License
*/
#include "PWMVelocityController.h"
-
+#include <ArmarXCore/observers/filters/rtfilters/AverageFilter.h>
namespace armarx
{
@@ -36,6 +36,7 @@ namespace armarx
velocityControllerConfigDataPtr->i,
velocityControllerConfigDataPtr->d));
pid->maxIntegral = velocityControllerConfigDataPtr->maxIntegral;
+ pid->differentialFilter.reset(new rtfilters::AverageFilter(130));
pid->conditionalIntegralErrorTreshold = velocityControllerConfigDataPtr->conditionalIntegralErrorTreshold;
pid->threadSafe = false;
}
--
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