From 5ba73cd698243311a65ab805e902806cb7abf9ea Mon Sep 17 00:00:00 2001
From: Falk Balduf <falk.balduf@student.kit.edu>
Date: Wed, 12 Mar 2025 09:15:00 +0100
Subject: [PATCH] Uncommitted changes on a7 realtime (unstable) found during
demo testing
---
source/RobotAPI/libraries/core/PIDController.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/core/PIDController.cpp b/source/RobotAPI/libraries/core/PIDController.cpp
index 135614117..1cf92b73c 100644
--- a/source/RobotAPI/libraries/core/PIDController.cpp
+++ b/source/RobotAPI/libraries/core/PIDController.cpp
@@ -285,9 +285,9 @@ namespace armarx
}
controlValue =
std::min(fabs(controlValue), maxControlValue) * math::MathUtils::Sign(controlValue);
- ARMARX_DEBUG << deactivateSpam(0.5) << " error: " << error << " cV: " << (controlValue)
- << " i: " << (Ki * integral) << " d: " << (Kd * derivative)
- << " dt: " << deltaSec;
+ ARMARX_DEBUG << deactivateSpam(0.5) << " error: " << error << " kp*error" << (Kp * error)
+ << " cV: " << (controlValue) << " i: " << (Ki * integral)
+ << " d: " << (Kd * derivative) << " dt: " << deltaSec;
previousError = error;
lastUpdateTime += IceUtil::Time::secondsDouble(deltaSec);
--
GitLab