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Add PID-PI loop functionality #561

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Merged
merged 20 commits into from
Aug 12, 2020
Merged

Add PID-PI loop functionality #561

merged 20 commits into from
Aug 12, 2020

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@rubendsa
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@rubendsa rubendsa commented Aug 11, 2020 •
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  • Adds PID-PI position/velocity loops.
  • EMA filter is moved to the outer position loop in cascaded control.

@rubendsa rubendsa requested a review from ilge August 11, 2020 21:03
ilge
ilge reviewed Aug 11, 2020
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ilge reviewed Aug 12, 2020
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ilge reviewed Aug 12, 2020
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ilge reviewed Aug 12, 2020
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mujoco_py/mjpid.pyx Outdated

cdef double Kp_cas = m.actuator_gainprm[id * NGAIN + IDX_CAS_PROPORTIONAL_GAIN]

# Apply Exponential Moving Average smoothing to the velocity setpoint
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@ilge ilge Aug 12, 2020

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comment needs updating – now on position setpoint

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ilge approved these changes Aug 12, 2020
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LGTM

@rubendsa rubendsa changed the title Add PD-PI loop functionality Add PID-PI loop functionality Aug 12, 2020
@rubendsa rubendsa merged commit 89a953c into master Aug 12, 2020
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@rubendsa @ilge @vi-ja