Commit b798d0c0 authored by Gabriele Buondonno's avatar Gabriele Buondonno

[test_dcmZmpControl_file] More intermediate steps before starting trajectory

parent 3f511084
......@@ -14,8 +14,7 @@ run_ft_calibration('robot.ftc')
raw_input("Wait before running the test")
# Connect ZMP reference and reset controllers
print('Trigger trajectory')
runCommandClient('robot.triggerTrajGen.sin.value = 1')
print('Connect ZMP reference')
runCommandClient('plug(robot.zmp_estimator.emergencyStop,robot.cm.emergencyStop_zmp)')
runCommandClient('plug(robot.dcm_control.zmpRef,robot.com_admittance_control.zmpDes)')
runCommandClient('robot.com_admittance_control.setState(robot.wp.comDes.value,[0.0,0.0,0.0])')
......@@ -23,6 +22,10 @@ runCommandClient('robot.com_admittance_control.Kp.value = Kp_adm')
runCommandClient('robot.dcm_control.resetDcmIntegralError()')
runCommandClient('robot.dcm_control.Ki.value = Ki_dcm')
raw_input("Wait before executing the trajectory")
print('Executing the trajectory')
runCommandClient('robot.triggerTrajGen.sin.value = 1')
raw_input("Wait before dumping the data")
runCommandClient('dump_tracer(robot.tracer)')
......
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