Add PD controller for joint-space impedance#400
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urfeex wants to merge 2 commits intoUniversalRobots:masterfrom
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Add PD controller for joint-space impedance#400urfeex wants to merge 2 commits intoUniversalRobots:masterfrom
urfeex wants to merge 2 commits intoUniversalRobots:masterfrom
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Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #400 +/- ##
==========================================
- Coverage 76.95% 73.91% -3.04%
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Files 111 112 +1
Lines 5901 6023 +122
Branches 2576 2635 +59
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- Hits 4541 4452 -89
- Misses 1020 1231 +211
Partials 340 340
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Extract the version-dependent direct_torque call logic from torqueThread() into a standalone directTorqueControlCall(tau) function. This allows reuse of the same logic in other control threads without code duplication.
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Adds a joint space impedance controller to the driver.