Implement and test your frequency division code first. If this part
isn't working, don't bother with the rest. After you get frequency
division to work, implement velocity control. Don't worry much about
displacement at this point. Set the initial displacement (remaining
number of steps) to a huge number. You probably also want to
limit the number of time ticks in the simulation.
Focus on just the linear parameters at first.
Copyright © 2006-02-15 by Tak Auyeung
