Multiple controllers in a control Manager
Hi,
I have a moving base that can change length in longitudinal direction. The longitudinal actuator is controller in position mode and wheel are velocity controlled.
When ever the longitudinal actuator increase or decrease in size i would also like the wheel rotate in desired direction simultaneously (by giving some command to controller).
Controller Manager has both position control and velocity control. I would like them to talk to hardware simulations. Is it possible ? Or is it control Manager switch between the controller back and forth to finish the task. In the above figure only controller 1 is connected to the hardware. In order to connect with controller 2 does it has to disconnect controller one ? or they implemented a separate threads ?
