upkie::cpp::actuation::default_action Namespace Reference

Default values for servo actions. More...

Variables
constexpr double	kFeedforwardTorque = 0.0
	Feedforward torque in [N m].
constexpr double	kVelocity = 0.0
	Joint velocity in [rad] / [s].
constexpr double	kKpScale = 1.0
	Scaling coefficient (no unit) applied to position feedback.
constexpr double	kKdScale = 1.0
	Scaling coefficient (no unit) applied to velocity feedback.
constexpr double	kMaximumTorque = 1.0
	Maximum torque any servo (mj5208 or qdd100) is allowed to apply, in [N m]. More...

Detailed Description

Default values for servo actions.

Variable Documentation

kMaximumTorque

constexpr double upkie::cpp::actuation::default_action::kMaximumTorque = 1.0

constexpr

Maximum torque any servo (mj5208 or qdd100) is allowed to apply, in [N m].

This default is set to a safe value. Agents are expected to set maximum torques to values suitable to the actuators (qdd100 in the hips and knees, mj5208 in the wheels).