This Robocomp component implements the control system of an inverted pendulum.
As any other component, InvertedPendulum needs a configuration file to start. In
etc/config
In this case, we can find there the following lines:
CommonBehavior.Endpoints=tcp -p 10000
# Proxies for required interfaces
IMUProxy = imu:tcp -h localhost -p 10005
JointMotorSimpleProxy = jointmotorsimple:tcp -h localhost -p 10006
# PID values
kp=16
ki=15
kd=5
InnerModelPath = innermodel.xml
Ice.Warn.Connections=0
Ice.Trace.Network=0
Ice.Trace.Protocol=0
Ice.MessageSizeMax=20004800
To start the component, you'll just have to execute the following line:
bin/InvertedPendulum etc/config