From 6aa383d179fdc142bf60338e6347a14f287c6314 Mon Sep 17 00:00:00 2001
From: ArmarX User <armarx@kit.edu>
Date: Wed, 5 Jun 2019 14:04:36 +0200
Subject: [PATCH] Change the use of velocity for torque estimation
---
.../KITGripperBasisBoard/KITGripperBasisBoard.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoard.cpp b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoard.cpp
index f6dbeffd4..69b043336 100644
--- a/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoard.cpp
+++ b/source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/KITGripperBasisBoard.cpp
@@ -281,7 +281,7 @@ namespace armarx
sensorValue.velocityTicksPerMs = actorDataPtr->getVelocityTicks();
sensorValue.rawVelocity = actorDataPtr->getRawVelocity();
sensorValue.filteredVelocity = actorDataPtr->getVelocity();
- torqueEstimator->estimateTorque(sensorValue.velocityTicksPerMs, sensorValue.targetPWM);
+ torqueEstimator->estimateTorque(sensorValue.rawVelocity, sensorValue.targetPWM);
sensorValue.torque = torqueEstimator->getTorque();
sensorValue.torqueWithInertia = torqueEstimator->getTorqueWithInertia();
// TODO add new entry torqueWithInertial
--
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