novaphy.actuators.ControllerPD

Per-DOF proportional-derivative controller. Stateless: each compute() call returns effort given current and target position / velocity.

ControllerPD(kp, kd)

Methods

Method	Description
compute(pos, vel, target_pos, target_vel, indices)	Returns effort for the selected DOF indices.

Example

from novaphy import actuators
ctrl = actuators.ControllerPD(kp=[10.0, 5.0], kd=[0.5, 0.2])
effort = ctrl.compute(pos, vel, target_pos, target_vel, indices=[0, 1])

See Also

• Actuator