Add velocityThres parameter for friction compensation #410
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I have to update the version of amc, ems, mc4plus, and mc2plus boards |
Done |
This was referenced Aug 29, 2023
marcoaccame
approved these changes
Sep 4, 2023
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seems fine by me.
NOTE: this PR belongs to the following group
- Update EoMotionControl to support the new velocityThres parameter icub-firmware-shared#86
- Add velocityThres parameter for friction compensation #410
- Update eomcParser and embObjMotionControl to support the new velocityThresh param icub-main#903
- amc v108.9 + ems v3.73 + mc2plus v3.55 + mc4plus v3.76 icub-firmware-build#100
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Let's wait for the distro 2023.08 to be released before merging. |
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What's new:
velocityThres_valparameter. It is now used to enable the new friction compensation law inPid.c:PID_do_friction_comp