Tfx Command: foc tfuture [<tfut>]


Variables	tfut	The new tfuture value, in milliseconds
Description	If a parameter is given, this command updates the tfuture parameter. If no parameter is given, the current tfuture value is displayed.
Notes	The head must be in force mode in order to run this command The force control algorithm requires an estimate of where the actuator will be in the future. The tfuture parameter determines how far into the future the algorithm will look. The value of this parameter is in milliseconds, and is actuator dependent.
Related Documents	PARAMETER: foc tfuture