Increase the frequency of the walking-controller to 500Hz

robotology · Sep 28, 2022 · dcc03f6 · dcc03f6
1 parent 1713405
commit dcc03f6
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Showing 4 changed files with 6 additions and 5 deletions.
diff --git a/...WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini b/...WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini
@@ -6,7 +6,7 @@ kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0)
 
 states          ("stance", "walking")
-sampling_time   0.01
+sampling_time   0.002
 settling_time   0.5
 
 [stance]

diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini
@@ -4,7 +4,7 @@ kp_angular                      5.0
 
 
 states          ("stance", "walking")
-sampling_time   0.01
+sampling_time   0.002
 settling_time   0.5
 
 [stance]

diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini
@@ -39,7 +39,7 @@ goal_port_suffix                    /goal:i
 goal_port_scaling                   (0.5, 1.0, 0.5)
 
 # How much in advance the planner should be called. The time is in seconds
-planner_advance_time_in_s           0.08
+planner_advance_time_in_s           0.02
 
 # general parameters
 [GENERAL]

diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini
@@ -39,18 +39,19 @@ goal_port_suffix                    /goal:i
 goal_port_scaling                   (0.5, 1.0, 0.5)
 
 # How much in advance the planner should be called. The time is in seconds
-planner_advance_time_in_s           0.08
+planner_advance_time_in_s           0.02
 
 # general parameters
 [GENERAL]
 name                    walking-coordinator
 # height of the com
 com_height              0.565
 # sampling time
-sampling_time           0.01
+sampling_time           0.002
 # Specify the frame to use to control the robot height. Currently, we support only the following options: com, root_link
 height_reference_frame  root_link
 
+
 # include robot control parameters
 [include ROBOT_CONTROL "./dcm_walking/joypad_control/robotControl.ini"]