Revision 482e441c

View differences:

examples/yarp_icub/src/icub_jointinterface.cpp
249 249 
        double error_d = (position_error - last_position_error[id]) / (framerate*1000.0);
250 250 
        last_position_error[id] = position_error;
251 251 
        //finally do a PD loop to get the target velocity
252 
        double target_velocity = PID_P[id] * position_error + PID_D[id]*error_d + speed;
252 
        double target_velocity = PID_P[id] * position_error + PID_D[id]*error_d - speed;
253 253 

  		




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        printf("%f %f %f %f %f %f PID%d\n",


  		




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               get_ts_position(e).get_interpolated_value(data_ts),


  		












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