public void set(double kp, double kd, double maxFeedback, double maxFeedbackRate, double positionDeadband) { setKp(kp); setKd(kd); setMaximumFeedback(maxFeedback); setMaximumFeedbackRate(maxFeedbackRate); setPositionDeadband(positionDeadband); }
@Override public PDGains getCoMHeightControlGains() { PDGains gains = new PDGains(); double kp = runningOnRealRobot ? 40.0 : 50.0; double zeta = runningOnRealRobot ? 0.4 : 1.0; double maxAcceleration = 0.5 * 9.81; double maxJerk = maxAcceleration / 0.05; gains.setKp(kp); gains.setZeta(zeta); gains.setMaximumFeedback(maxAcceleration); gains.setMaximumFeedbackRate(maxJerk); return gains; }
@Override public PDGains getCoMHeightControlGains() { PDGains gains = new PDGains(); double kp = runningOnRealRobot ? 40.0 : 50.0; double zeta = runningOnRealRobot ? 0.4 : 1.0; double maxAcceleration = 0.5 * 9.81; double maxJerk = maxAcceleration / 0.05; gains.setKp(kp); gains.setZeta(zeta); gains.setMaximumFeedback(maxAcceleration); gains.setMaximumFeedbackRate(maxJerk); return gains; }
@Override public PDGains getCoMHeightControlGains() { PDGains gains = new PDGains(); boolean realRobot = target == RobotTarget.REAL_ROBOT; double kp = 40.0; double zeta = realRobot ? 0.4 : 0.8; double maxAcceleration = 0.5 * 9.81; double maxJerk = maxAcceleration / 0.05; gains.setKp(kp); gains.setZeta(zeta); gains.setMaximumFeedback(maxAcceleration); gains.setMaximumFeedbackRate(maxJerk); return gains; }
@Override public PDGains getCoMHeightControlGains() { PDGains gains = new PDGains(); boolean runningOnRealRobot = target == RobotTarget.REAL_ROBOT; double kp = runningOnRealRobot ? 40.0 : 50.0; double zeta = runningOnRealRobot ? 0.4 : 1.0; double maxAcceleration = 0.5 * 9.81; double maxJerk = maxAcceleration / 0.05; gains.setKp(kp); gains.setZeta(zeta); gains.setMaximumFeedback(maxAcceleration); gains.setMaximumFeedbackRate(maxJerk); return gains; }
public void set(PDGainsReadOnly other) { setKp(other.getKp()); setKd(other.getKd()); setMaximumFeedback(other.getMaximumFeedback()); setMaximumFeedbackRate(other.getMaximumFeedbackRate()); setPositionDeadband(other.getPositionDeadband()); }