How to use

doControl

method

in

us.ihmc.wholeBodyController.diagnostics.AutomatedDiagnosticAnalysisController

@Override
public void doControl()
{
 long startTime = System.nanoTime();
 sensorReader.read();
 humanoidReferenceFrames.updateFrames();
 if (firstControlTick)
 {
   stateEstimator.initialize();
   automatedDiagnosticAnalysisController.initialize();
   firstControlTick = false;
 }
 else
 {
   stateEstimator.doControl();
   automatedDiagnosticAnalysisController.doControl();
 }
 outputWriter.writeAfterController(0);
 long endTime = System.nanoTime();
 controllerTime.set(TimeTools.nanoSecondstoSeconds(endTime - startTime));
 averageControllerTime.update();
}

@Override
public void doControl()
{
 long startTime = System.nanoTime();
 sensorReader.read();
 humanoidReferenceFrames.updateFrames();
 if (firstControlTick)
 {
   stateEstimator.initialize();
   automatedDiagnosticAnalysisController.initialize();
   firstControlTick = false;
 }
 else
 {
   stateEstimator.doControl();
   automatedDiagnosticAnalysisController.doControl();
 }
 outputWriter.writeAfterController(0);
 long endTime = System.nanoTime();
 controllerTime.set(TimeTools.nanoSecondstoSeconds(endTime - startTime));
 averageControllerTime.update();
}

@Override
public void doControl()
{
 long startTime = System.nanoTime();
 lowLevelOutputWriter.writeBefore(startTime);
 sensorReader.read();
 humanoidReferenceFrames.updateFrames();
 if (firstControlTick)
 {
   stateEstimator.initialize();
   forceSensorStateUpdater.initialize();
   automatedDiagnosticAnalysisController.initialize();
   firstControlTick = false;
 }
 else
 {
   stateEstimator.doControl();
   forceSensorStateUpdater.updateForceSensorState();
   automatedDiagnosticAnalysisController.doControl();
 }
 lowLevelOutputWriter.writeAfter();
 long endTime = System.nanoTime();
 controllerTime.set(Conversions.nanosecondsToSeconds(endTime - startTime));
 averageControllerTime.update();
}

diagnosticController.doControl();
sensorReader.writeCommandsToRobot();