LuGre friction model parameters added to ETH protocol #99
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Hi @ale-git
We ought to increase the version number of the codebase with this new feature.
cc @marcoaccame
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Hi @ale-git:
- ok the change of version of icub-firmware-shared but also pls change in icub-main the minimum required version in here.
- the changes in files
EoProtocolMC*are not necessary and can be reverted. they are required only if one wants to set the LuGre values separately from the set of the complete joint.
CMakeLists.txt
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| cmake_minimum_required(VERSION 3.12) | |||
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| project(icub_firmware_shared | |||
| VERSION 1.40.0) | |||
| VERSION 1.40.1) | |||
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hi @ale-git, I have changed the icub_firmware_shared VERSION to be 1.40.1 so that we maintain 40 as a value of the iCub Software release and we use the final .1 to force icub-main to use this particular version.
hi @pattacini, the versioning of icub-firmware-shared is now ok. will you pls mark it as solved? thanks. |
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Added LuGre friction model for sensorless torque estimation. Built on - robotology/icub-firmware#527 - robotology/icub-firmware-shared#99
- LuGre configuration moved to motor configuration - version incremented
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I've rebased and updated the version, ready for merge. |
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Hi @marcoaccame |
The parameters for LuGre friction model used in torque sensorless estimation have been added to the ETH boards protocol.