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Crafty15
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Jul 6, 2025
Co-authored-by: Ysobel Sims <35280100+ysims@users.noreply.github.com>
ysims
reviewed
Jul 9, 2025
| @@ -1,3 +1,5 @@ | |||
| log_level: DEBUG | |||
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| log_level: DEBUG | |
| log_level: INFO |
| right_elbow: -0.7 | ||
| left_elbow: -0.7 | ||
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| # Use balance control. NOTE: correction_enabled must be true in FootController config |
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| # Use balance control. NOTE: correction_enabled must be true in FootController config | |
| # Use balance control |
| right_elbow: -0.7 | ||
| left_elbow: -0.7 | ||
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| # Use balance control. NOTE: correction_enabled must be true in FootController config |
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| # Use balance control. NOTE: correction_enabled must be true in FootController config | |
| # Use balance control |
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or maybe the comment isn't needed anymore
Tom0Brien
reviewed
Jul 14, 2025
| roll_error, | ||
| pitch_error)); | ||
| } | ||
| return; // Do not apply control if the error is too large |
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rather than return here, flip the logic and wrap the control updates in this if so that we just pause increasing/decreasing desired roll/pitch and don't reset our desired pitch to the nominal
Tom0Brien
reviewed
Jul 14, 2025
| // Graph final corrected desired values | ||
| emit(graph("Balance/Desired_Roll_Final", desired_roll)); | ||
| emit(graph("Balance/Desired_Pitch_Final", desired_pitch)); | ||
| } |
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it would be good to apply a slew rate limit to these, just as a safety precaution. so basically just add a limit on the maximum change in desired pitch and roll per second, just so that if we get bad sensor data (like a faulty gyro reading) this doesn't blow up
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P.S. It's probably not critical that we have this in and use it for robocup. I was thinking it might help with the tilting during get ups and starting to walk again when the batteries get low.