To return Exponential Values, which is helpful for reducing the
sensitivity of the stick around the centered value (0), since it's
exponential curve.
Useful for user adjustment implementations, where accidentally touching the stick
wouldn't have so much effect when using the Exponential value, compared
to using the raw position value.
It was meant as an example for an easy to use interface of a
motion primitive with a minimal implementation. But the implementation
is much worse than the jerk optimized trajectory. We rather
work on making it easier to use. #18390 was a first step towards that.
This entire feature only has an impact if the last mode set
a huge acceleration and we have to take over as smooth as possible.
But it's stil lworth fixing.
The drag is based on max_acc/max_vel, which means that increasing the
maximum velocity leads to slower braking (at the same starting speed).
Especially a combination of small max_acc (slow responsiveness) with high
max_vel led to an exceedingly high braking distance.
This improves that while still being smooth.
The velocity setpoint of the position controller
does a jump when unlocking position with a non-zero position error.
This is solved by using the velocity setpoint feedback to smoothly
take over.
With a higher responsiveness, after centering the stick, the velocity and
acceleration setpoints could oscillate around 0 and never reach 0, due to
discretization.
This also prevented position lock engagement.
Beat Küng