Commit f765117d authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Update gains of Foot task

parent 37976b43
......@@ -254,7 +254,6 @@ class EEPosture (Manifold):
# Set the gain of the posture task
setGain(self.tp.gain,(4.9,0.9,0.01,0.9))
# setGain(self.tp.gain,(9.8,1.8,0.02,1.8))
plug(self.tp.gain.gain, self.tp.controlGain)
plug(self.tp.error, self.tp.gain.error)
self.tasks = [ self.tp ]
......@@ -282,6 +281,7 @@ class Foot (Manifold):
"hppjoint": footname,
"signalGetters": [ self._signalVelocityRef ] },
})
self.taskFoot.gain.value = 5
def _signalPositionRef (self): return self.taskFoot.featureDes.position
def _signalVelocityRef (self): return self.taskFoot.featureDes.velocity
......
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