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Gimbal cascade pid #158

Merged
merged 30 commits into from
Apr 2, 2024
Merged

Gimbal cascade pid #158

merged 30 commits into from
Apr 2, 2024

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liyixin135
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1moule and others added 30 commits March 11, 2023 20:52
@1moule
Try to use cascade pid to control the gimbal.
7ef9801
@1moule
Modify way of getting joint urdf and use cascade pid.
3abc5d2
@1moule
Merge branch 'master' into Gimbal_cascade_pid
db93052 
# Conflicts:
#	rm_gimbal_controllers/src/gimbal_base.cpp
@1moule
Fix some merge problems.
a7815f7
@1moule
Modify ways of computing pitch and yaw vel des.
6c4f444
@1moule
Fix a get param bug.
b847df9
@1moule
Merge remote-tracking branch 'origin/Gimbal_cascade_pid' into Gimbal_…
a7fb91a 
…cascade_pid

# Conflicts:
#	rm_gimbal_controllers/include/rm_gimbal_controllers/gimbal_base.h
#	rm_gimbal_controllers/src/gimbal_base.cpp
@1moule
Modify ways of computing gimbal vel des.
35ff340
@1moule
Fix a bug of using variables.
a89bcd4
@1moule
Add position loop and simplify some logic.
f74823a
@1moule
Publish position loop state.
e279407
@1moule
Publish pitch position loop state.
ea296f1
@1moule
Modify variable name.
d53710e
@1moule
Modify topic name and add pitch gravity feedforward.
b18abe4
@1moule
Add output limit.
88ef3df
@1moule
Add cfg file for gimbal base.
072ffdc
@1moule
Add dynamic reconfig for gimbal base.
f63848b
@1moule
Modify max output limit.
677a5e5
@1moule
Unlimit pid pos and feedforward output.
5aa5fe4
@1moule
Modify param for dynamic reconfig.
90afd2a
@1moule
Modify for dynamic reconfig.
60da4b4
@liyixin135
Dynamic switch angle.
24963cd
@1moule
Modify method of calculate gimbal vel des.
c7fcc58
@1moule
Remove some unnecessary params.
e32d5e2
@1moule
Remove some unnecessary header file.
7e2eb4b
@liyixin135
Merge branch 'master_switch_angle' into Gimbal_cascade_pid
776f4a3
@liyixin135
Add angle limit for shooting.
cd1799d
@liyixin135
Add angle limit for shooting.
c4eb15f
@liyixin135
Modify something unreasonable.
cd1430f
@liyixin135
Delete something to dynamic reconfigure.
3cdb8d3
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@d0h0s d0h0s merged commit 42ef992 into rm-controls:master Apr 2, 2024
10 of 11 checks passed
@ye-luo-xi-tui
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@d0h0s 连pre-commit都没过

抛开格式不谈，还是有些问题的

@ye-luo-xi-tui ye-luo-xi-tui mentioned this pull request Apr 2, 2024
Merged
@liyixin135 liyixin135 deleted the Gimbal_cascade_pid branch April 11, 2024 07:36
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4 participants
@liyixin135 @ye-luo-xi-tui @d0h0s @1moule