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