History

check on robot: code runs without any problems. default tip

2017-11-13, by megrootens [Mon, 13 Nov 2017 18:23:41 +0000] rev 9

check on robot: code runs without any problems.

Updated docs.

2017-11-13, by megrootens [Mon, 13 Nov 2017 10:45:29 +0000] rev 8

Updated docs.

Moved implementation to separate .cpp files, by using static const variables for constants in namespaces and extern declarations for non-const vars.; Code compiles & runs on a board. **Not yet tested on the actual robot!**

2017-11-13, by megrootens [Mon, 13 Nov 2017 10:39:55 +0000] rev 7

Moved implementation to separate .cpp files, by using static const variables for constants in namespaces and extern declarations for non-const vars.; Code compiles & runs on a board. **Not yet tested on the actual robot!**

for readability put implementation in namespace.; not tested but compiles and should still work

2017-11-13, by megrootens [Mon, 13 Nov 2017 09:34:39 +0000] rev 6

for readability put implementation in namespace.; not tested but compiles and should still work

added include guards in header files

2017-11-13, by megrootens [Mon, 13 Nov 2017 09:11:42 +0000] rev 5

added include guards in header files

Typo

2017-11-13, by megrootens [Mon, 13 Nov 2017 08:56:07 +0000] rev 4

Typo

OK... stupid eror in set_kp,ki,kd methods, as the argument was an int, whereas it should be double; all gains were rounded to zero.; Now everything works with MA filtering on velocity;

2017-11-12, by megrootens [Sun, 12 Nov 2017 14:09:54 +0000] rev 3

OK... stupid eror in set_kp,ki,kd methods, as the argument was an int, whereas it should be double; all gains were rounded to zero.; Now everything works with MA filtering on velocity;

this works, only controller needs to be updated since I broke the moving average filtered one....;

2017-11-12, by megrootens [Sun, 12 Nov 2017 14:06:23 +0000] rev 2

this works, only controller needs to be updated since I broke the moving average filtered one....;

tuned controller, added 2-data point moving average velocity estimate

2017-11-12, by megrootens [Sun, 12 Nov 2017 12:05:22 +0000] rev 1

tuned controller, added 2-data point moving average velocity estimate

setup code. too much play in gears and axles slip. But performance already better than bio robotics.

2017-11-12, by megrootens [Sun, 12 Nov 2017 00:14:05 +0000] rev 0

setup code. too much play in gears and axles slip. But performance already better than bio robotics.