public void setGains(PIDGainsReadOnly gains) { pdController.setGains(gains); setMaximumOutputLimit(gains.getMaximumFeedback()); setIntegralLeakRatio(gains.getIntegralLeakRatio()); setIntegralGain(gains.getKi()); setMaxIntegralError(gains.getMaxIntegralError()); }
jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(2.0 * subtreeMass); jointController.setMaximumOutputLimit(40.0 * subtreeMass); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(500.0); jointController.setMaximumOutputLimit(400.0); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(200.0); jointController.setMaximumOutputLimit(400.0); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(500.0); jointController.setMaximumOutputLimit(400.0);
jointPositionController.setIntegralLeakRatio(integralLeakRatio); jointPositionController.setDerivativeGain(2.0 * subtreeMass); jointPositionController.setMaximumOutputLimit(40.0 * subtreeMass); jointVelocityController.setMaxIntegralError(0.3); jointVelocityController.setIntegralLeakRatio(integralLeakRatio); jointVelocityController.setMaximumOutputLimit(40.0 * subtreeMass); jointPositionController.setIntegralLeakRatio(integralLeakRatio); jointPositionController.setDerivativeGain(4.5 * subtreeMass); jointPositionController.setMaximumOutputLimit(3.5 * subtreeMass); jointVelocityController.setMaxIntegralError(0.2); jointVelocityController.setIntegralLeakRatio(integralLeakRatio); jointVelocityController.setMaximumOutputLimit(3.5 * subtreeMass); jointPositionController.setIntegralLeakRatio(integralLeakRatio); jointPositionController.setDerivativeGain(200.0); jointPositionController.setMaximumOutputLimit(400.0); jointVelocityController.setMaxIntegralError(0.2); jointVelocityController.setIntegralLeakRatio(integralLeakRatio); jointVelocityController.setMaximumOutputLimit(400.0); jointPositionController.setMaximumOutputLimit(2.5 * totalMass); jointVelocityController.setMaxIntegralError(0.2); jointVelocityController.setIntegralLeakRatio(integralLeakRatio); jointVelocityController.setMaximumOutputLimit(2.6 * totalMass);
jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(2.0 * subtreeMass); jointController.setMaximumOutputLimit(40.0 * subtreeMass); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(500.0); jointController.setMaximumOutputLimit(400.0); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(200.0); jointController.setMaximumOutputLimit(400.0); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(500.0); jointController.setMaximumOutputLimit(400.0);
jointPositionController.setMaximumOutputLimit(Double.POSITIVE_INFINITY);