-
Notifications
You must be signed in to change notification settings - Fork 525
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Compute velocity using central difference #2080
Compute velocity using central difference #2080
Conversation
Codecov Report
Additional details and impacted files@@ Coverage Diff @@
## main #2080 +/- ##
=======================================
Coverage ? 50.90%
=======================================
Files ? 391
Lines ? 32131
Branches ? 0
=======================================
Hits ? 16354
Misses ? 15777
Partials ? 0
Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here. ☔ View full report in Codecov by Sentry. |
My first impression from testing it out in simulation is that the behavior doesn't change noticeably. That's a good sign 👍 |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Thanks a lot! I'll see if I can get somebody to test it on a real robot.
Co-authored-by: AndyZe <andyz@utexas.edu>
Is this still in testing? |
Waiting for a second "maintainer" to review it. It worked well when I tried it. |
Description
This PR changes the calculations in
ServoCalcs
to use the central difference to compute the joint velocities more accurately.Fixes #2077
Checklist