Commit 16edfe1e authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Delete t and dt from write()

parent d1bb4334
......@@ -660,8 +660,6 @@ SystemBoltHardware::write()
Eigen::Vector6d gain_KD;
double t = 0.0;
double dt = 0.001;
std::chrono::time_point<std::chrono::system_clock> last = std::chrono::system_clock::now();
while (!robot_->IsTimeout()) {
......@@ -674,7 +672,6 @@ SystemBoltHardware::write()
// Control law
/*positions = ...;
torques = ...;*/
t += dt;
for (const hardware_interface::ComponentInfo & joint : info_.joints) {
positions[joint_name_to_motor_nb_[joint.name]] = hw_commands_[joint.name].position;
......
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