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Increase the frequency of iCubGenova09 up to 250Hz #115

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Increase the frequency of iCubGenova09 up to 250Hz #115

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2 changes: 1 addition & 1 deletion src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ name walking-coordinator
# height of the com
com_height 0.565
# sampling time
sampling_time 0.01
sampling_time 0.004
# Specify the frame to use to control the robot height. Currently, we support only the following options: com, root_link
height_reference_frame root_link

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16 changes: 12 additions & 4 deletions src/WalkingModule/src/Module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,8 @@
#include <WalkingControllers/YarpUtilities/Helper.h>
#include <WalkingControllers/StdUtilities/Helper.h>

constexpr std::size_t askNewTrajectoryIndex = 80;

using namespace WalkingControllers;

void WalkingModule::propagateTime()
Expand Down Expand Up @@ -382,6 +384,7 @@ bool WalkingModule::configure(yarp::os::ResourceFinder& rf)
m_profiler->addTimer("MPC");

m_profiler->addTimer("IK");
m_profiler->addTimer("Send Data");
m_profiler->addTimer("Total");

// initialize some variables
Expand Down Expand Up @@ -649,7 +652,7 @@ bool WalkingModule::updateModule()
if(m_newTrajectoryRequired)
{
// when we are near to the merge point the new trajectory is evaluated
if(m_newTrajectoryMergeCounter == 20)
if(m_newTrajectoryMergeCounter == askNewTrajectoryIndex)
{

double initTimeTrajectory;
Expand Down Expand Up @@ -922,6 +925,9 @@ bool WalkingModule::updateModule()
// send data to the logger
if(m_dumpData)
{

m_profiler->setInitTime("Send Data");

iDynTree::Vector2 desiredZMP;
if(m_useMPC)
desiredZMP = m_walkingController->getControllerOutput();
Expand Down Expand Up @@ -1019,6 +1025,8 @@ bool WalkingModule::updateModule()

m_loggerPort.write();

m_profiler->setEndTime("Send Data");

}

// in the approaching phase the robot should not move and the trajectories should not advance
Expand Down Expand Up @@ -1534,13 +1542,13 @@ bool WalkingModule::setPlannerInput(double x, double y)
return true;

// Since the evaluation of a new trajectory takes time the new trajectory will be merged after x cycles
m_newTrajectoryMergeCounter = 20;
m_newTrajectoryMergeCounter = askNewTrajectoryIndex;
}

// the trajectory was not finished the new trajectory will be attached at the next merge point
else
{
if(m_mergePoints.front() > 20)
if(m_mergePoints.front() > askNewTrajectoryIndex)
m_newTrajectoryMergeCounter = m_mergePoints.front();
else if(m_mergePoints.size() > 1)
{
Expand All @@ -1554,7 +1562,7 @@ bool WalkingModule::setPlannerInput(double x, double y)
if(m_newTrajectoryRequired)
return true;

m_newTrajectoryMergeCounter = 20;
m_newTrajectoryMergeCounter = askNewTrajectoryIndex;
}
}

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