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Add checks on maximum velocities in PID #172

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adeguet1 opened this issue Feb 14, 2023 · 0 comments
Open

Add checks on maximum velocities in PID #172

adeguet1 opened this issue Feb 14, 2023 · 0 comments
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adeguet1 commented Feb 14, 2023 •
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The PID class should have few more safety checks:

  • check that measured_jp is within joint limits (+/- tolerance)
  • check that measured_jv is reasonable (maybe use trajectory generation max velocity x some factor)
  • check that setpoint_jv is capped (as we do for setpoint_jp). We could use trajectory generation velocity x some factor
@adeguet1 adeguet1 self-assigned this Feb 14, 2023
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