BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- fixed motion module result gain bug

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This commit is contained in:
zerom
2018-06-01 13:33:01 +09:00
parent 0695e980b1
commit 0851b50b5a
2 changed files with 12 additions and 12 deletions
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12
robotis_controller/src/robotis_controller/robotis_controller.cpp
View File

@ -1266,7 +1266,7 @@ void RobotisController::process()
port_to_sync_write_position_[dxl->port_name_]->changeParam(dxl->id_, sync_write_data);
// if position p gain value is changed -> sync write
if (dxl_state->position_p_gain_ != result_state->position_p_gain_)
if (result_state->position_p_gain_ != 65535 && dxl_state->position_p_gain_ != result_state->position_p_gain_)
{
dxl_state->position_p_gain_ = result_state->position_p_gain_;
uint8_t sync_write_data[4] = { 0 };
@ -1280,7 +1280,7 @@ void RobotisController::process()
}
// if position i gain value is changed -> sync write
if (dxl_state->position_i_gain_ != result_state->position_i_gain_)
if (result_state->position_i_gain_ != 65535 && dxl_state->position_i_gain_ != result_state->position_i_gain_)
{
dxl_state->position_i_gain_ = result_state->position_i_gain_;
uint8_t sync_write_data[4] = { 0 };
@ -1294,7 +1294,7 @@ void RobotisController::process()
}
// if position d gain value is changed -> sync write
if (dxl_state->position_d_gain_ != result_state->position_d_gain_)
if (result_state->position_d_gain_ != 65535 && dxl_state->position_d_gain_ != result_state->position_d_gain_)
{
dxl_state->position_d_gain_ = result_state->position_d_gain_;
uint8_t sync_write_data[4] = { 0 };
@ -1325,7 +1325,7 @@ void RobotisController::process()
port_to_sync_write_velocity_[dxl->port_name_]->changeParam(dxl->id_, sync_write_data);
// if velocity p gain gain value is changed -> sync write
if (dxl_state->velocity_p_gain_ != result_state->velocity_p_gain_)
if (result_state->velocity_p_gain_ != 65535 && dxl_state->velocity_p_gain_ != result_state->velocity_p_gain_)
{
dxl_state->velocity_p_gain_ = result_state->velocity_p_gain_;
uint8_t sync_write_data[4] = { 0 };
@ -1339,7 +1339,7 @@ void RobotisController::process()
}
// if velocity i gain value is changed -> sync write
if (dxl_state->velocity_i_gain_ != result_state->velocity_i_gain_)
if (result_state->velocity_i_gain_ != 65535 && dxl_state->velocity_i_gain_ != result_state->velocity_i_gain_)
{
dxl_state->velocity_i_gain_ = result_state->velocity_i_gain_;
uint8_t sync_write_data[4] = { 0 };
@ -1353,7 +1353,7 @@ void RobotisController::process()
}
// if velocity d gain value is changed -> sync write
if (dxl_state->velocity_d_gain_ != result_state->velocity_d_gain_)
if (result_state->velocity_d_gain_ != 65535 && dxl_state->velocity_d_gain_ != result_state->velocity_d_gain_)
{
dxl_state->velocity_d_gain_ = result_state->velocity_d_gain_;
uint8_t sync_write_data[4] = { 0 };

12
robotis_device/include/robotis_device/dynamixel_state.h
View File

@ -64,12 +64,12 @@ public:
goal_position_(0.0),
goal_velocity_(0.0),
goal_torque_(0.0),
position_p_gain_(0),
position_i_gain_(0),
position_d_gain_(0),
velocity_p_gain_(0),
velocity_i_gain_(0),
velocity_d_gain_(0),
position_p_gain_(65535),
position_i_gain_(65535),
position_d_gain_(65535),
velocity_p_gain_(65535),
velocity_i_gain_(65535),
velocity_d_gain_(65535),
position_offset_(0)
{
bulk_read_table_.clear();