private PID3DGains createPelvisOrientationControlGains() { double kp = 100;//600.0; double zeta = 0.4;//0.8; double maxAccel = Double.POSITIVE_INFINITY; double maxJerk = Double.POSITIVE_INFINITY; DefaultPID3DGains gains = new DefaultPID3DGains(GainCoupling.XYZ, false); gains.setProportionalGains(kp); gains.setDampingRatios(zeta); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return gains; }
private PID3DGains createChestOrientationControlGains() { double kp = runningOnRealRobot ? 100.0 : 100.0; double zeta = runningOnRealRobot ? 0.7 : 0.8; double maxAccel = runningOnRealRobot ? 12.0 : 18.0; double maxJerk = runningOnRealRobot ? 180.0 : 270.0; DefaultPID3DGains gains = new DefaultPID3DGains(GainCoupling.XYZ, false); gains.setProportionalGains(kp); gains.setDampingRatios(zeta); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return gains; }
private PID3DGains createPelvisOrientationControlGains() { double kp = 100;//600.0; double zeta = 0.4;//0.8; double maxAccel = Double.POSITIVE_INFINITY; double maxJerk = Double.POSITIVE_INFINITY; DefaultPID3DGains gains = new DefaultPID3DGains(GainCoupling.XYZ, false); gains.setProportionalGains(kp); gains.setDampingRatios(zeta); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return gains; }
private PID3DGains createChestOrientationControlGains() { double kp = runningOnRealRobot ? 100.0 : 100.0; double zeta = runningOnRealRobot ? 0.7 : 0.8; double maxAccel = runningOnRealRobot ? 12.0 : 18.0; double maxJerk = runningOnRealRobot ? 180.0 : 270.0; DefaultPID3DGains gains = new DefaultPID3DGains(GainCoupling.XYZ, false); gains.setProportionalGains(kp); gains.setDampingRatios(zeta); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return gains; }
private PID3DGains createHandPositionControlGains() { boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kp = 100.0; double zeta = runningOnRealRobot ? 0.6 : 1.0; double maxAccel = runningOnRealRobot ? 10.0 : Double.POSITIVE_INFINITY; double maxJerk = runningOnRealRobot ? 100.0 : Double.POSITIVE_INFINITY; DefaultPID3DGains gains = new DefaultPID3DGains(GainCoupling.XYZ, false); gains.setProportionalGains(kp); gains.setDampingRatios(zeta); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return gains; }
private PID3DGains createHeadOrientationControlGains() { boolean realRobot = target == RobotTarget.REAL_ROBOT; double kp = 40.0; double zeta = realRobot ? 0.4 : 0.8; double maxAccel = realRobot ? 6.0 : 36.0; double maxJerk = realRobot ? 60.0 : 540.0; DefaultPID3DGains gains = new DefaultPID3DGains(GainCoupling.XYZ, false); gains.setProportionalGains(kp); gains.setDampingRatios(zeta); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return gains; }
private PID3DGains createPelvisOrientationControlGains() { boolean realRobot = target == RobotTarget.REAL_ROBOT; double kpXY = 80.0; double kpZ = 40.0; double zeta = realRobot ? 0.5 : 0.8; double maxAccel = realRobot ? 12.0 : 36.0; double maxJerk = realRobot ? 180.0 : 540.0; DefaultPID3DGains gains = new DefaultPID3DGains(GainCoupling.XY, false); gains.setProportionalGains(kpXY, kpXY, kpZ); gains.setDampingRatios(zeta); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return gains; }
private PID3DConfiguration createHandPositionControlGains() { boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kp = 100.0; double zeta = runningOnRealRobot ? 0.6 : 1.0; double maxAccel = runningOnRealRobot ? 10.0 : Double.POSITIVE_INFINITY; double maxJerk = runningOnRealRobot ? 100.0 : Double.POSITIVE_INFINITY; DefaultPID3DGains gains = new DefaultPID3DGains(); gains.setProportionalGains(kp); gains.setDampingRatios(zeta); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return new PID3DConfiguration(GainCoupling.XYZ, false, gains); }
private PID3DConfiguration createHandOrientationControlGains() { boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kp = 100.0; double zeta = runningOnRealRobot ? 0.6 : 1.0; double maxAccel = runningOnRealRobot ? 10.0 : Double.POSITIVE_INFINITY; double maxJerk = runningOnRealRobot ? 100.0 : Double.POSITIVE_INFINITY; DefaultPID3DGains gains = new DefaultPID3DGains(); gains.setProportionalGains(kp); gains.setDampingRatios(zeta); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return new PID3DConfiguration(GainCoupling.XYZ, false, gains); }
private PID3DConfiguration createPelvisOrientationControlGains() { boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kpXY = runningOnRealRobot ? 100.0 : 100.0; // Was 100.0 before tuneup of sep 2018 double kpZ = runningOnRealRobot ? 90.0 : 100.0; // Was 80.0 before tuneup of sep 2018 double zetaXY = runningOnRealRobot ? 0.8 : 0.8; // Was 0.9 before tuneup of sep 2018 double zetaZ = runningOnRealRobot ? 0.8 : 0.8; double maxAccel = runningOnRealRobot ? 100.0 : 18.0; // Was 18.0 before tuneup of sep 2018 double maxJerk = runningOnRealRobot ? 1500.0 : 270.0; // Was 270.0 before tuneup of sep 2018 DefaultPID3DGains gains = new DefaultPID3DGains(); gains.setProportionalGains(kpXY, kpXY, kpZ); gains.setDampingRatios(zetaXY, zetaXY, zetaZ); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return new PID3DConfiguration(GainCoupling.XY, false, gains); }
private PID3DConfiguration createHeadOrientationControlGains() { boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kpX = 5.0; double kpYZ = 20.0;//40.0; double zeta = runningOnRealRobot ? 0.4 : 0.8; double maxAccel = 18.0; double maxJerk = 270.0; DefaultPID3DGains gains = new DefaultPID3DGains(); gains.setProportionalGains(kpX, kpYZ, kpYZ); gains.setDampingRatios(zeta, zeta, zeta); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return new PID3DConfiguration(GainCoupling.YZ, false, gains); }
private PID3DGains createHandOrientationControlGains() { boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kp = 100.0; double zeta = runningOnRealRobot ? 0.6 : 1.0; double ki = 0.0; double maxIntegralError = 0.0; double maxAccel = runningOnRealRobot ? 10.0 : Double.POSITIVE_INFINITY; double maxJerk = runningOnRealRobot ? 100.0 : Double.POSITIVE_INFINITY; DefaultPID3DGains gains = new DefaultPID3DGains(GainCoupling.XYZ, false); gains.setProportionalGains(kp); gains.setDampingRatios(zeta); gains.setIntegralGains(ki, maxIntegralError); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return gains; }
private PID3DConfiguration createChestOrientationControlGains() { boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kpXY = runningOnRealRobot ? 80.0 : 100.0; // Was 80.0 before tuneup of sep 2018 double kpZ = runningOnRealRobot ? 80.0 : 100.0; // Was 60.0 before tuneup of sep 2018 double zetaXY = runningOnRealRobot ? 0.8 : 0.8; // Was 0.8 before tuneup of sep 2018 double zetaZ = runningOnRealRobot ? 0.8 : 0.8; // Was 0.8 before tuneup of sep 2018 double maxAccel = runningOnRealRobot ? 12.0 : 18.0; double maxJerk = runningOnRealRobot ? 360.0 : 270.0; DefaultPID3DGains gains = new DefaultPID3DGains(); gains.setProportionalGains(kpXY, kpXY, kpZ); gains.setDampingRatios(zetaXY, zetaXY, zetaZ); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); return new PID3DConfiguration(GainCoupling.XY, false, gains); }
private PID3DGains createChestOrientationControlGains() { boolean realRobot = target == RobotTarget.REAL_ROBOT; double kpXY = 40.0; double kpZ = 40.0; double zetaXY = realRobot ? 0.5 : 0.8; double zetaZ = realRobot ? 0.22 : 0.8; double maxAccel = realRobot ? 6.0 : 36.0; double maxJerk = realRobot ? 60.0 : 540.0; double maxProportionalError = 10.0 * Math.PI/180.0; DefaultPID3DGains gains = new DefaultPID3DGains(GainCoupling.XY, false); gains.setProportionalGains(kpXY, kpXY, kpZ); gains.setDampingRatios(zetaXY, zetaXY, zetaZ); gains.setMaxFeedbackAndFeedbackRate(maxAccel, maxJerk); gains.setMaxProportionalError(maxProportionalError); return gains; }