From 30767476a349f2dc6ad7ed2a2c4acc5c2bc4ef65 Mon Sep 17 00:00:00 2001
From: ArmarX User <armarx@kit.edu>
Date: Fri, 23 Aug 2019 18:13:10 +0200
Subject: [PATCH] change the position p gain to tunable parameter
---
.../JointController/JointPWMPositionController.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
index 31b2274b1..2daabdda3 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/JointPWMPositionController.cpp
@@ -52,7 +52,7 @@ JointPWMPositionController::JointPWMPositionController(const std::string deviceN
posController.positionLimitHi = jointData->getSoftLimitHi();
// controller.positionLimitLoHard = dataPtr->getHardLimitLo();
posController.positionLimitLo = jointData->getSoftLimitLo();
- posController.p = 3.0f;
+ posController.p = velocityControllerConfigDataPtr->posControlP; //3.0f;
this->isLimitless = jointData->isLimitless();
// ARMARX_INFO << "limitless: " << this->isLimitless;
}
--
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