Add balance control to foot controller #1636
Open
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Crafty15
commented
Jul 6, 2025
Co-authored-by: Ysobel Sims <35280100+ysims@users.noreply.github.com>
ysims
reviewed
Jul 9, 2025
| @@ -1,3 +1,5 @@ | |||
| log_level: DEBUG | |||
Member
There was a problem hiding this comment.
Suggested change
| log_level: DEBUG | |
| log_level: INFO |
| right_elbow: -0.7 | ||
| left_elbow: -0.7 | ||
|
|
||
| # Use balance control. NOTE: correction_enabled must be true in FootController config |
Member
There was a problem hiding this comment.
Suggested change
| # Use balance control. NOTE: correction_enabled must be true in FootController config | |
| # Use balance control |
| right_elbow: -0.7 | ||
| left_elbow: -0.7 | ||
|
|
||
| # Use balance control. NOTE: correction_enabled must be true in FootController config |
Member
There was a problem hiding this comment.
Suggested change
| # Use balance control. NOTE: correction_enabled must be true in FootController config | |
| # Use balance control |
Member
There was a problem hiding this comment.
or maybe the comment isn't needed anymore
Tom0Brien
reviewed
Jul 14, 2025
| roll_error, | ||
| pitch_error)); | ||
| } | ||
| return; // Do not apply control if the error is too large |
Member
There was a problem hiding this comment.
rather than return here, flip the logic and wrap the control updates in this if so that we just pause increasing/decreasing desired roll/pitch and don't reset our desired pitch to the nominal
Tom0Brien
reviewed
Jul 14, 2025
| // Graph final corrected desired values | ||
| emit(graph("Balance/Desired_Roll_Final", desired_roll)); | ||
| emit(graph("Balance/Desired_Pitch_Final", desired_pitch)); | ||
| } |
Member
There was a problem hiding this comment.
it would be good to apply a slew rate limit to these, just as a safety precaution. so basically just add a limit on the maximum change in desired pitch and roll per second, just so that if we get bad sensor data (like a faulty gyro reading) this doesn't blow up
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
P.S. It's probably not critical that we have this in and use it for robocup. I was thinking it might help with the tilting during get ups and starting to walk again when the batteries get low.