Commit f77a7c2a authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[unitTestig] Fix test_control_manager.

parent 493d2505
......@@ -104,9 +104,7 @@ class initRobotData:
def init_and_set_controller_manager(self, cm):
# Init should be called before addCtrlMode
# because the size of state vector must be known.
cm.init(self.controlDT,self.testRobotPath,
self.ctrlManagerCurrentToControlGain,
self.maxCurrent,self.robotRef)
cm.init(self.controlDT,self.testRobotPath,self.robotRef)
# Set the map from joint name to joint ID
for key in self.mapJointNameToID:
......@@ -135,7 +133,4 @@ class initRobotData:
cm.setRightFootSoleXYZ(self.RightFootSensorXYZ)
cm.setDefaultMaxCurrent(-10.0)
cm.setDefaultMaxCurrent(self.maxCurrent)
cm.getDefaultMaxCurrent()
......@@ -22,13 +22,8 @@ cm.controlDT=0.005
# Initializing the input ports
# Setting the robot configuration
cm.base6d_encoders.value=q
cm.dq.value=dq
cm.bemfFactor.value = bemfFactor
cm.max_current.value = max_current
cm.max_tau.value= max_tau
cm.percentageDriverDeadZoneCompensation.value = percentageDriverDeadZoneCompensation
cm.signWindowsFilterSize.value = signWindowsFilterSize
cm.i_max.value = max_current
cm.u_max.value= max_tau
cm.tau.value = tau
cm.tau_predicted.value = tau_predicted
......@@ -46,7 +41,4 @@ cm.ctrl_torque.value = currentDes
cm.ctrl_pos.value = pwmDes
cm.setCtrlMode("all","pos")
cm.pwmDes.recompute(10)
cm.pwmDes.value
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