faster robot reset

[Armandpl]

When an episode terminâtes if the motor speed was high the motor continues freely spinning for a second or so. This slows down the whole training as we have to wait for it to stop spinning then wait for the pendulum to come to rest.

• We could use a pid controller on the speed to slow down the motor faster
• then maybe help the pendulum oscillations to stop?
• unsure about the quality of our velocity filter so maybe having its output be a target is bad?

[Armandpl]

Ok so I quickly set up a pid to slow down the motor but it may be too violent and I think it damaged the motor. I should look into this before the next real training, make sure we gently slow the motor down!
We can probably use the speed limits so that the gains 'make more sense'. E.g divide the gains by the max speed, so that Kp = 1 equals to an action of 1 if the motor is at max speed.
One thing I don't like is that the action starts at the maximum, i'd like it to slowly ramp up to gently decelerate? how do

[Armandpl]

I just need to compute a command based on the current speed an how long I want to take to slow down the motor. Instead of having the command be zero which makes the first action 1 and instantly reverses the polarity.