EmbodiedAI
/
z1_sdk
mirror of https://github.com/unitreerobotics/z1_sdk.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Update highcmd_development.cpp

This commit is contained in:
Agnel Wang 2023-09-20 17:18:58 +08:00 committed by GitHub
parent 0951110ccb
commit 803de91b21
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
examples/highcmd_development.cpp
View File

@ -17,6 +17,7 @@ int main()
{ {
arm.q = lastPos*(1-i/duration) + targetPos*(i/duration); arm.q = lastPos*(1-i/duration) + targetPos*(i/duration);
arm.qd = (targetPos-lastPos)/(duration*arm._ctrlComp->dt); arm.qd = (targetPos-lastPos)/(duration*arm._ctrlComp->dt);
arm.setArmCmd(arm.q, arm.qd);
timer.sleep(); timer.sleep();
} }