Benjamin Herrenschmidt wrote:
> The algorithm itself is extracted from darwin. However, it's a rather
> complex modified version of the PID algorithm, and thus it could use
> some review to make sure I got everything right.
>
As we are already in the digital domain, I would think it would be
more savvy to use a digital controller than try to simulate an
analog controller... Why don't you abstract the control algorithm
such that you can plug in others as they are developed.
-Geoff
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