BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- rename ControlMode(CurrentControl -> TorqueControl)

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- rename (port_to_sync_write_torque_ -> port_to_sync_write_current_)
This commit is contained in:
ROBOTIS-zerom
2016-07-06 18:24:33 +09:00
parent 55e2f6e0f8
commit 2791506926
3 changed files with 22 additions and 22 deletions
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2
robotis_controller/include/robotis_controller/robotis_controller.h
View File

@@ -107,7 +107,7 @@ public:
/* sync write */
std::map<std::string, dynamixel::GroupSyncWrite *> port_to_sync_write_position_;
std::map<std::string, dynamixel::GroupSyncWrite *> port_to_sync_write_velocity_;
std::map<std::string, dynamixel::GroupSyncWrite *> port_to_sync_write_torque_;
std::map<std::string, dynamixel::GroupSyncWrite *> port_to_sync_write_current_;
std::map<std::string, dynamixel::GroupSyncWrite *> port_to_sync_write_position_p_gain_;
/* publisher */

40
robotis_controller/src/robotis_controller/robotis_controller.cpp
View File

@@ -106,8 +106,8 @@ void RobotisController::initializeSyncWrite()
if (it->second != NULL)
it->second->clearParam();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_torque_.begin();
it != port_to_sync_write_torque_.end(); it++)
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_current_.begin();
it != port_to_sync_write_current_.end(); it++)
{
if (it->second != NULL)
it->second->clearParam();
@@ -231,7 +231,7 @@ bool RobotisController::initialize(const std::string robot_file_path, const std:
if (default_device->goal_current_item_ != 0)
{
port_to_sync_write_torque_[port_name]
port_to_sync_write_current_[port_name]
= new dynamixel::GroupSyncWrite(port,
default_pkt_handler,
default_device->goal_current_item_->address_,
@@ -707,8 +707,8 @@ void RobotisController::stopTimer()
if (it->second != NULL)
it->second->clearParam();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_torque_.begin();
it != port_to_sync_write_torque_.end(); it++)
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_current_.begin();
it != port_to_sync_write_current_.end(); it++)
{
if (it->second != NULL)
it->second->clearParam();
@@ -984,7 +984,7 @@ void RobotisController::process()
port_to_sync_write_velocity_[dxl->port_name_]->changeParam(dxl->id_, sync_write_data);
}
}
else if ((*module_it)->getControlMode() == CurrentControl)
else if ((*module_it)->getControlMode() == TorqueControl)
{
dxl_state->goal_torque_ = result_state->goal_torque_;
@@ -995,8 +995,8 @@ void RobotisController::process()
sync_write_data[0] = DXL_LOBYTE(curr_data);
sync_write_data[1] = DXL_HIBYTE(curr_data);
if (port_to_sync_write_torque_[dxl->port_name_] != NULL)
port_to_sync_write_torque_[dxl->port_name_]->changeParam(dxl->id_, sync_write_data);
if (port_to_sync_write_current_[dxl->port_name_] != NULL)
port_to_sync_write_current_[dxl->port_name_]->changeParam(dxl->id_, sync_write_data);
}
}
}
@@ -1036,8 +1036,8 @@ void RobotisController::process()
if (it->second != NULL)
it->second->txPacket();
}
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_torque_.begin();
it != port_to_sync_write_torque_.end(); it++)
for (std::map<std::string, dynamixel::GroupSyncWrite *>::iterator it = port_to_sync_write_current_.begin();
it != port_to_sync_write_current_.end(); it++)
{
if (it->second != NULL)
it->second->txPacket();
@@ -1071,7 +1071,7 @@ void RobotisController::process()
joint_msg.data = dxl_state->goal_velocity_;
gazebo_joint_velocity_pub_[joint_name].publish(joint_msg);
}
else if ((*module_it)->getControlMode() == CurrentControl)
else if ((*module_it)->getControlMode() == TorqueControl)
{
joint_msg.data = dxl_state->goal_torque_;
gazebo_joint_effort_pub_[joint_name].publish(joint_msg);
@@ -1477,8 +1477,8 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
if (port_to_sync_write_position_[dxl->port_name_] != NULL)
port_to_sync_write_position_[dxl->port_name_]->addParam(dxl->id_, sync_write_data);
if (port_to_sync_write_torque_[dxl->port_name_] != NULL)
port_to_sync_write_torque_[dxl->port_name_]->removeParam(dxl->id_);
if (port_to_sync_write_current_[dxl->port_name_] != NULL)
port_to_sync_write_current_[dxl->port_name_]->removeParam(dxl->id_);
if (port_to_sync_write_velocity_[dxl->port_name_] != NULL)
port_to_sync_write_velocity_[dxl->port_name_]->removeParam(dxl->id_);
}
@@ -1516,8 +1516,8 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
if (port_to_sync_write_position_[dxl->port_name_] != NULL)
port_to_sync_write_position_[dxl->port_name_]->addParam(dxl->id_, sync_write_data);
if (port_to_sync_write_torque_[dxl->port_name_] != NULL)
port_to_sync_write_torque_[dxl->port_name_]->removeParam(dxl->id_);
if (port_to_sync_write_current_[dxl->port_name_] != NULL)
port_to_sync_write_current_[dxl->port_name_]->removeParam(dxl->id_);
if (port_to_sync_write_velocity_[dxl->port_name_] != NULL)
port_to_sync_write_velocity_[dxl->port_name_]->removeParam(dxl->id_);
}
@@ -1533,12 +1533,12 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
if (port_to_sync_write_velocity_[dxl->port_name_] != NULL)
port_to_sync_write_velocity_[dxl->port_name_]->addParam(dxl->id_, sync_write_data);
if (port_to_sync_write_torque_[dxl->port_name_] != NULL)
port_to_sync_write_torque_[dxl->port_name_]->removeParam(dxl->id_);
if (port_to_sync_write_current_[dxl->port_name_] != NULL)
port_to_sync_write_current_[dxl->port_name_]->removeParam(dxl->id_);
if (port_to_sync_write_position_[dxl->port_name_] != NULL)
port_to_sync_write_position_[dxl->port_name_]->removeParam(dxl->id_);
}
else if (mode == CurrentControl)
else if (mode == TorqueControl)
{
uint32_t curr_data = dxl->convertTorque2Value(dxl->dxl_state_->goal_torque_);
uint8_t sync_write_data[4] = { 0 };
@@ -1547,8 +1547,8 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
sync_write_data[2] = DXL_LOBYTE(DXL_HIWORD(curr_data));
sync_write_data[3] = DXL_HIBYTE(DXL_HIWORD(curr_data));
if (port_to_sync_write_torque_[dxl->port_name_] != NULL)
port_to_sync_write_torque_[dxl->port_name_]->addParam(dxl->id_, sync_write_data);
if (port_to_sync_write_current_[dxl->port_name_] != NULL)
port_to_sync_write_current_[dxl->port_name_]->addParam(dxl->id_, sync_write_data);
if (port_to_sync_write_velocity_[dxl->port_name_] != NULL)
port_to_sync_write_velocity_[dxl->port_name_]->removeParam(dxl->id_);

2
robotis_framework_common/include/robotis_framework_common/motion_module.h
View File

@@ -53,7 +53,7 @@ enum ControlMode
{
PositionControl,
VelocityControl,
CurrentControl
TorqueControl
};
class MotionModule