added checkInpuSpikesWithSimulator, fixed stopTorqueControlBalancingW…

…ithSimu, fixed torqueControlBalancingWithSimu and exported to 2019b
robotology · Aug 6, 2021 · 7bf78dc · 7bf78dc
1 parent 20ba6af
commit 7bf78dc
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Showing 3 changed files with 636 additions and 734 deletions.
diff --git a/...ers/+floatingBaseBalancingTorqueControlWithSimulator/stopTorqueControlBalancingWithSimu.m b/...ers/+floatingBaseBalancingTorqueControlWithSimulator/stopTorqueControlBalancingWithSimu.m
@@ -61,7 +61,7 @@
 
 % If a joint hits the limits or an encoder spike is detected, print a
 % warning message displaying the name of the joint
-if Config.EMERGENCY_STOP_WITH_ENCODER_SPIKES && exist('res_check_spikes','var')
+if exist('res_check_spikes','var')
 
     if ~isempty(res_check_spikes.signals.values)
 
@@ -76,7 +76,7 @@
         end
     end
 end
-if Config.EMERGENCY_STOP_WITH_JOINTS_LIMITS && exist('res_check_range','var')
+if exist('res_check_range','var')
 
     if ~isempty(res_check_range.signals.values)