Fixes usages of deprecated control_toolbox constructors. - #350
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chachmu
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Jul 4, 2025
| this->x_controller.initialize(2.8, 0.0, 0.002, 0.3, -0.3, true); | ||
| this->y_controller.initialize(2.8, 0.0, 0.002, 0.15, -0.15, true); | ||
| this->t_controller.initialize(2.5, 0.0, 0.0, 0.5, -0.5, true); | ||
| const auto u_max = std::numeric_limits<double>::infinity(); |
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Would it be better to set these to like the max velocity or something just to make sure the controller doesn't go completely crazy?
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You already do that clamping elsewhere for now, and I was trying to keep this changeset minimal.
We certainly could consider using their implementation of clamping instead in the future.
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The latest release of control_toolbox deprecated some constructors we were using for their objects to add their new
AntiWindupStrategysystem. This PR changes our code to use the new constructors.