Fine-tuned the controller for Gazebo

francisc0garcia · Nov 18, 2016 · 08c66e2 · 08c66e2
1 parent 53ac8a6
commit 08c66e2
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/robot_controller_LQR_V1.py b/src/robot_controller_LQR_V1.py
@@ -146,6 +146,8 @@ def update_controller(self):
         #v_xi = self.Idx / 1.8 # correction factor
         #self.IIdx = self.IIdx + v_xi / 150
 
+        # TODO: do something like: if a move-command comes, set xi_des = xi_des + epsilon
+
         self.xi_des = 0
         self.psi_des = 0