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bobble:
bobble_balance_controller:
type: bobble_controllers/BobbleBalanceController
joints:
- right_wheel_hinge
- left_wheel_hinge
InSim: true
StartingTiltSafetyLimitDegrees: 10.0
MaxTiltSafetyLimitDegrees: 20.0
MotorEffortMax: 0.2
MotorEffortToTorqueSimFactor: 1.0
WheelVelocityAdjustment: 1.0
MadgwickFilterGain: 0.015
MeasuredTiltFilterGain: 0.15
MeasuredTiltDotFilterGain: 0.15
MeasuredHeadingFilterGain: 0.5
MeasuredTurnRateFilterGain: 0.1
LeftWheelVelocityFilterGain: 0.15
RightWheelVelocityFilterGain: 0.15
DesiredForwardVelocityFilterGain: 0.01
DesiredTurnRateFilterGain: 0.01
MaxVelocityCmd: 4.25 # 3 mph
MaxTurnRateCmd: 6.25 # 150 deg/s
WheelRadiusMeters: 0.05
VelocityCmdScale: 1.15
TurnCmdScale: 6.25
VelocityControlKp: 0.15
VelocityControlKi: 0.001
VelocityControlAlphaFilter: 0.05
VelocityControlMaxIntegralOutput: 0.02
VelocityControlOutputLimitDegrees: 8.5
TiltControlKp: 1.0
TiltControlKd: 0.075
TiltControlAlphaFilter: 0.05
TiltOffset: 0.0
TiltDotOffset: 0.0
RollDotOffset: 0.0
YawDotOffset: 0.0
TurningControlKp: 1.0
TurningControlKi: 0.01
TurningControlKd: 0.085
TurningOutputFilter: 0.0
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