Develop
create compile_commands.json:
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pio run -t compiledb
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Tuning
y rl 125, | y rb
y r 125 reg.pid_velocity 0.001 2.5 0.0 0.01 1000.0 3.0 100.0 && y cmd 125 restart
y pub --period=0.1 \
10:reg.udral.service.common.readiness '!$ "B(1,1) * 3"' \
50:reg.udral.physics.dynamics.rotation.planar '{torque: 4, kinematics: {angular_position: NAN, angular_velocity: !$ "A(1,1) * 10"}}'