Bad stuff
Added the ability to get zmp info
Removed the filter that didn't work..yet
Made some changes but I don't know if I broke things or open rave broke
Fixed it
Got good zmp on hardware, still unsteady in simulation. I commented the zmp code
Added a balance controller to maestor. Right now it is very ugly and messy but I am going to clean it up. It compiles and prints all of the rainbow calculations in a nice log file called log.log.log
Added in walking capabilities. Needs a lot of testing on hardware but works in simulation
One leg Balancing worksgit add oneLegBalance.py
Increased the walking sway
working on the walk
maybe
Made some changes to walk and removed something that shouldn't have been tracked
Made changes so that the console doesn't show up wherever you run console
Cleared out some commented code and added in some active balancing. Going to test on hardware. seems to work in simulation
trying to get the active balancing less jumpy
Still playing around with balancing
Made it so you can turn balance on and off and changed the direction
oops
Balancing works. Still a few bugs but it works. all smooth like