Torque readings from DX200 are not continuous.
nexus1203 opened this issue · comments
After following the instructions on this comment #174, I collected the torque data using two method, first the controller torque method another is the Mregister method. However both the methods return torque readings with a significant delay. However, Joint readings are still continuous. I am hoping devs can shed some light on this, if this is a controller limitation? I have ordered MotoPlus from the local dealership. I am hoping that may solve the issue. However, the comparisons are attached as follow.
The joint angles are in pulse. sorry for the label.
DX200_torque.csv
Hi @nexus1203
I think what you're seeing is caused by the frequency that feedback data is published from motoros to motoman_driver.
I have ordered MotoPlus from the local dealership
With the SDK, you can decrease the STATE_UPDATE_MIN_PERIOD and you should see immediate improvement.