BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- added velocity p/i/d gain and position i/d gain sync_write code.

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This commit is contained in:
ROBOTIS-zerom
2016-08-12 16:47:19 +09:00
parent a415fff32f
commit 0b21211127
24 changed files with 319 additions and 7 deletions
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3
robotis_device/devices/dynamixel/GRIPPER.device
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@@ -19,6 +19,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/H42-20-S300-R.device
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@@ -21,6 +21,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/H54-100-S500-R.device
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@@ -21,6 +21,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/H54-200-B500-R.device
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@@ -21,6 +21,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/H54-200-S500-R.device
View File

@@ -21,6 +21,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/L42-10-S300-R.device
View File

@@ -19,6 +19,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/L54-30-S400-R.device
View File

@@ -19,6 +19,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/L54-30-S500-R.device
View File

@@ -19,6 +19,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/L54-50-S290-R.device
View File

@@ -19,6 +19,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/L54-50-S500-R.device
View File

@@ -19,6 +19,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/M42-10-S260-R.device
View File

@@ -19,6 +19,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/M54-40-S250-R.device
View File

@@ -19,6 +19,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/M54-60-S250-R.device
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@@ -19,6 +19,9 @@ goal_current_item_name = goal_torque
position_d_gain_item_name =
position_i_gain_item_name =
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/MX-106.device
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@@ -19,6 +19,9 @@ goal_current_item_name =
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name =
velocity_p_gain_item_name =
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/MX-28.device
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@@ -19,6 +19,9 @@ goal_current_item_name =
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name =
velocity_p_gain_item_name =
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/MX-64.device
View File

@@ -19,6 +19,9 @@ goal_current_item_name =
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name =
velocity_p_gain_item_name =
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/XM-430-W210.device
View File

@@ -22,6 +22,9 @@ goal_current_item_name = goal_current
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/XM-430-W350.device
View File

@@ -22,6 +22,9 @@ goal_current_item_name = goal_current
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

3
robotis_device/devices/dynamixel/XM-430.device
View File

@@ -21,6 +21,9 @@ goal_current_item_name = goal_current
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
velocity_d_gain_item_name =
velocity_i_gain_item_name = velocity_i_gain
velocity_p_gain_item_name = velocity_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed

5
robotis_device/include/robotis_device/dynamixel.h
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@@ -73,6 +73,11 @@ public:
ControlTableItem *goal_velocity_item_;
ControlTableItem *goal_current_item_;
ControlTableItem *position_p_gain_item_;
ControlTableItem *position_i_gain_item_;
ControlTableItem *position_d_gain_item_;
ControlTableItem *velocity_p_gain_item_;
ControlTableItem *velocity_i_gain_item_;
ControlTableItem *velocity_d_gain_item_;
Dynamixel(int id, std::string model_name, float protocol_version);

10
robotis_device/include/robotis_device/dynamixel_state.h
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@@ -60,6 +60,11 @@ public:
double goal_velocity_;
double goal_torque_;
double position_p_gain_;
double position_i_gain_;
double position_d_gain_;
double velocity_p_gain_;
double velocity_i_gain_;
double velocity_d_gain_;
std::map<std::string, uint32_t> bulk_read_table_;
@@ -74,6 +79,11 @@ public:
goal_velocity_(0.0),
goal_torque_(0.0),
position_p_gain_(0.0),
position_i_gain_(0.0),
position_d_gain_(0.0),
velocity_p_gain_(0.0),
velocity_i_gain_(0.0),
velocity_d_gain_(0.0),
position_offset_(0.0)
{
bulk_read_table_.clear();

7
robotis_device/src/robotis_device/dynamixel.cpp
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@@ -55,7 +55,12 @@ Dynamixel::Dynamixel(int id, std::string model_name, float protocol_version)
goal_position_item_(0),
goal_velocity_item_(0),
goal_current_item_(0),
position_p_gain_item_(0)
position_p_gain_item_(0),
position_i_gain_item_(0),
position_d_gain_item_(0),
velocity_p_gain_item_(0),
velocity_i_gain_item_(0),
velocity_d_gain_item_(0)
{
this->id_ = id;
this->model_name_ = model_name;