Using velocity command interface with the SJTC #1480
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The gains are set to work for all e-series robots, but will not work for UR15/20/30. As far as I can tell, those models do not support this kind of control.
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #1480 +/- ##
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+ Coverage 3.59% 5.10% +1.51%
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Files 13 33 +20
Lines 947 3408 +2461
Branches 152 429 +277
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+ Hits 34 174 +140
- Misses 843 3232 +2389
+ Partials 70 2 -68
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I also cant seem to get rid of deprecation notices related to the antiwindup strategy, even though I am not using anything deprecated according to the docs |
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I have specified gains for the SJTC that enables it to run with only the velocity command interface.
These gains will work with all e-series robots (tested on UR3/5/10/16), but will not work with UR15/20/30 (Only tested on 15 and 20, though). I was not able to find any combination of gains that work with those.
Related to #905