 Shane Smiskol
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ab44c9a4ff
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Torque controller: refactor calculations to be in accel space (#35790)
* clean up
* little confusing but works
* clean up
* fix
* pid outputs torque again, fix windup above max torque
* clean up
* fix
* fix
* typo
* fix conflicts
* fix PID
* cleanups
* seems correct
* updte
* inverse
* whitespace
* move
* small cleanup
* more cleanup
* update ref
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Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
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2025-08-15 11:39:56 -07:00 |
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