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bobble:
bobble_balance_controller:
type: bobble_controllers/BalanceSimController
joints:
- right_wheel_hinge
- left_wheel_hinge
InSim: true
ImuName: bno055
ControlLoopFrequency: 500.0
StartingTiltSafetyLimitDegrees: 10.0
MaxTiltSafetyLimitDegrees: 20.0
MotorEffortMax: 0.2
ControllerEffortMax: 0.4
MotorEffortToTorqueSimFactor: 1.0
WheelVelocityAdjustment: 1.0
MadgwickFilterGain: 0.015
MeasuredTiltFilterFrequency: 100.0
MeasuredTiltDotFilterFrequency: 100.0
MeasuredHeadingFilterFrequency: 100.0
MeasuredTurnRateFilterFrequency: 50.0
LeftWheelVelocityFilterFrequency: 10.0
RightWheelVelocityFilterFrequency: 10.0
DesiredForwardVelocityFilterFrequency: 10.0
DesiredTurnRateFilterFrequency: 50.0
MaxVelocityCmd: 4.25 # 3 mph
MaxTurnRateCmd: 6.25 # 150 deg/s
WheelRadiusMeters: 0.05
VelocityCmdScale: 1.15
TurnCmdScale: 6.25
VelocityControlKp: 0.125
VelocityControlKd: 0.05
VelocityControlDerivFilter: 20.0
VelocityControlKi: 0.01
VelocityControlAlphaFilter: 0.99
VelocityControlMaxIntegralOutput: 0.025
VelocityControlOutputLimitDegrees: 8.5
TiltControlKp: 2.5
TiltControlKd: 0.5
TiltControlAlphaFilter: 0.05
TiltOffset: 0.0
TiltDotOffset: 0.0
RollDotOffset: 0.0
YawDotOffset: 0.0
TurningControlKp: 0.25
TurningControlKi: 0.05
TurningControlKd: 0.0
TurningControlDerivFilter: 50.0
TurningOutputFilter: 0.5