Step Controller

Description

This controller attempts to apply a constant torque at the joint for a set duration and for a set number of times.

Parameters

Parameter index order can be found in ControllerData.h.

• amplitude Magnitude of the applied torque, in Nm.

• duration Duration for which the torque is applied.

• repetitions Number of times the torque is applied.

• spacing Time between each application of torque.

• use_pid Flag to turn PID on (1) or off (0).

• p_gain Proportional gain for closed-loop control.

• i_gain Integral gain for closed-loop control.

• d_gain Derivative gain for closed-loop control.

• alpha Filtering term for the exponentially weighted moving average (EWMA) filter used on the torque sensor to reduce noise.