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Updated PID and added arm with suction gripper to the world

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Derek Witcpalek
2020-04-16 20:57:43 -04:00
parent 85d500106a
commit ccae110574
2 changed files with 6 additions and 1232 deletions
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6
rrrobot_src/src/arm_control/launch/arm.launch
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@@ -80,9 +80,9 @@
</node> </node>
<node name="end_effector_pivot_pid" pkg="pid" type="controller" output="screen" > <node name="end_effector_pivot_pid" pkg="pid" type="controller" output="screen" >
<param name="Kp" value="0.0" /> <param name="Kp" value="0.1" />
<param name="Ki" value="0.0" /> <param name="Ki" value="0.01" />
<param name="Kd" value="0.0" /> <param name="Kd" value="0.05" />
<param name="upper_limit" value="1000" /> <param name="upper_limit" value="1000" />
<param name="lower_limit" value="-1000" /> <param name="lower_limit" value="-1000" />
<param name="windup_limit" value="100" /> <param name="windup_limit" value="100" />

1232
rrrobot_src/world/rrrobot_setpoint.world
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