control.state¶

StateController: a controller that reads the robot’s state, not its motors.

Functions

`require_motor_layout`(controller, what)	Refuse a `StateController` (also inside a `Tank`): `what` reads the controller's inputs in the layout of the motors, and this controller's are the state (q, v).

Classes

`StateController`(compiled[, output, read])	A `VMCController` that evaluates the law at the robot's state (q, v), not at the state its motors give.