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 77.09% 73.52% -3.57%
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Files 110 111 +1
Lines 5823 5938 +115
Branches 2576 2635 +59
==========================================
- Hits 4489 4366 -123
- Misses 996 1229 +233
- Partials 338 343 +5
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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.