From 19adb1f2e2ed54d1a2b1c46fa4dbea71966f7793 Mon Sep 17 00:00:00 2001
From: ArmarX User <armarx@kit.edu>
Date: Thu, 7 Feb 2019 18:34:08 +0100
Subject: [PATCH] more pid controller debugoutput
---
.../JointController/JointPWMPositionController.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
index 715b81c5f..4e059cd18 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
@@ -228,7 +228,8 @@ StringVariantBaseMap JointPWMPositionController::publish(const DebugDrawerInterf
}
return {{"lastTargetVelocity", new Variant(lastTargetVelocity.load())},
{"targetPosition", new Variant(posController.targetPosition)},
- {"error", new Variant(posController.targetPosition - posController.currentPosition)},
+ {"posError", new Variant(posController.targetPosition - posController.currentPosition)},
+ {"pidError", new Variant(controller.pid->previousError)},
{"filteredVelocity", new Variant(controller.lastActualVelocity.load())},
{"pidIntegralCV", new Variant(controller.pid->integral * controller.pid->Ki)},
{"pidPropCV", new Variant(controller.pid->previousError * controller.pid->Kp)},
--
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