From d2341378287784704d61d836540bd675e0ab2ff2 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit.edu>
Date: Thu, 2 Dec 2021 14:46:04 +0100
Subject: [PATCH] tune parameters for platform global position controller
---
.../NJointHolonomicPlatformGlobalPositionController.h | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
index 418d2e00d..bf4d338d0 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
@@ -51,10 +51,10 @@ namespace armarx
float p = 1.0f;
float i = 0.0f;
float d = 0.0f;
- float maxVelocity = 500;
- float maxAcceleration = 400;
+ float maxVelocity = 400;
+ float maxAcceleration = 300;
- float p_rot = 0.7f;
+ float p_rot = 0.8f;
float i_rot = 0.0f;
float d_rot = 0.0f;
--
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