Commit 5557a19e authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Modif on calibration part of start()

parent 714fe52c
......@@ -435,10 +435,14 @@ return_type SystemBoltHardware::start()
robot_->Start();
// Calibration part
double Kp = 5.;
double Kd = 0.05;
double T = 2.0;
double dt = 0.001;
std::vector<CalibrationMethod> directions = {
AUTO, AUTO, AUTO, AUTO, AUTO, AUTO};
auto calib_ctrl = std::make_shared<JointCalibrator>(
joints_, directions, position_offsets_, 5., 0.05, 2., 0.001);
joints_, directions, position_offsets_, Kp, Kd, T, dt);
bool is_calibrated = false;
std::chrono::time_point<std::chrono::system_clock> last =
std::chrono::system_clock::now();
......
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