mix bb_pid_controller.install (bb_pid_controller v0.2.2)

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Installs BB.PID.Controller into a project

Adds a BB.PID.Controller to your robot module with the kp/ki/kd gains wired to runtime-tunable parameters under :config.<name>.{kp,ki,kd}. The setpoint/measurement/output topics are scaffolded as TODOs for you to fill in once you know the joint paths in your topology.

Example

mix igniter.install bb_pid_controller
mix igniter.install bb_pid_controller --name shoulder_pid

Options

  • --robot - The robot module (defaults to {AppPrefix}.Robot).
  • --name - The controller name and param group name (default pid).