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Avoid glitch while switching control mode #104

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pattacini opened this issue Dec 5, 2019 · 2 comments
Open

Avoid glitch while switching control mode #104

pattacini opened this issue Dec 5, 2019 · 2 comments
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@pattacini
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From https://github.com/icub-tech-iit/task-force-miscellanea/issues/6#issuecomment-561711268

When the control mode is changed for a joint the PID is reset (i.e. its integral part is reset), so there is a little glitch until the integral part is accumulated again. It is safe, but there is a visual effect. Probably, we could avoid resetting the PID but it must be tested carefully.

cc @traversaro @xEnVrE @marcoaccame
@traversaro
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cc @GiulioRomualdi @S-Dafarra

@traversaro
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According to @S-Dafarra , this could explain the oscillations at second 34 of this video: https://www.youtube.com/watch?v=33F2G5mYiHY&feature=youtu.be&t=33 .

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@traversaro @pattacini @ale-git