Repository navigation
Update powerlimit for omni and swerve - #226
Merged
Merged
Conversation
|
|
||
| #include <Eigen/Dense> | ||
| #include <rm_common/filters/lp_filter.h> | ||
| #include <rm_common/rls.h> |
Contributor
There was a problem hiding this comment.
rls是否实际使用？头文件没有合进rm_controls
Contributor
Author
There was a problem hiding this comment.
rls实时拟合会超功率，特别是在升级、功率限制提升后，现已删除
|
|
||
| ewheel_power += real_torque * real_vel + wheel_power_limitor_.effort_coeff * square(real_torque) + | ||
| wheel_power_limitor_.vel_coeff * abs(real_vel); | ||
| cwheel_power += cmd_torque * real_vel + wheel_power_limitor_.effort_coeff * square(cmd_torque) + |
Contributor
There was a problem hiding this comment.
ewheel_power和cwheel_power变量名为啥这样取
Contributor
Author
There was a problem hiding this comment.
现在都统一改成estimated和cmd前缀的规范了
Bluefairy-ljy
changed the title
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
为全向轮和舵轮控制器添加港科大功率限制代码。