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z1_sdk
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Update highcmd_development.cpp

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Agnel Wang 2023-09-20 17:18:58 +08:00 committed by GitHub
parent 0951110ccb
commit 803de91b21
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1 changed files with 2 additions and 1 deletions
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examples/highcmd_development.cpp
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@ -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();
} }
@ -24,4 +25,4 @@ int main()
arm.setFsm(UNITREE_ARM::ArmFSMState::PASSIVE); arm.setFsm(UNITREE_ARM::ArmFSMState::PASSIVE);
arm.sendRecvThread->shutdown(); arm.sendRecvThread->shutdown();
return 0; return 0;
} }