Commit 9cd4506a authored by Nicolas Van der Noot's avatar Nicolas Van der Noot

comments examplectrl

parent 84020519
......@@ -59,7 +59,7 @@ ExampleCtrl::ExampleCtrl(): Ctrl(EXAMPLE_CTRL)
/*
* The following function must be coherent with the
* 'userFiles/simu/actuators/LowLevelGains.cc' file
* 'userFiles/interface/gains/LowLevelGains.hh' file
* (modify its 'MotorConfig' function).
* In this example, all the joints must be in 'POSITION_TRACKING',
* except the arm joints which can be in 'POSITION_TRACKING' or in
......@@ -184,7 +184,7 @@ void ExampleCtrl::FinishCtrl()
*
* \param[in] inputsCtrl controller inputs structure
*
* For more information about the controller inputs, src/project/interface_controller/controller_io.hh.
* For more information about the controller inputs, userFiles/interface/io/controller_io.hh.
* Fill your controller inputs, reading the ones from 'inputsCtrl'.
*/
void ExampleCtrl::SetInputs(Inputs_ctrl *inputsCtrl)
......@@ -226,12 +226,12 @@ void ExampleCtrl::SetInputs(Inputs_ctrl *inputsCtrl)
*
* \param[out] outputsCtrl controller outputs structure
*
* For more information about the controller outputs, src/project/interface_controller/controller_io.hh.
* For more information about the controller outputs, userFiles/interface/io/controller_io.hh.
* Fill 'outputsCtrl' with your controller outputs.
*/
void ExampleCtrl::SetOutputs(Outputs_ctrl *outputsCtrl)
{
// tracking (position - velocity - torque)
// tracking (position - torque)
for (int i=0; i<nb_mot; i++)
{
outputsCtrl->q_ref[i] = q_ref[i];
......
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