BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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Merge pull request #48 from ROBOTIS-GIT/develop

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OPEN-CR.device, robotis_controller changed.
This commit is contained in:
zerom
2017-07-11 14:10:21 +09:00
committed by GitHub
parent 8f59509bec ac3dc6d9eb
commit 4b0f03ee5c
2 changed files with 11 additions and 5 deletions
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14
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@ -911,12 +911,14 @@ void RobotisController::process()
if (dxl->bulk_read_items_.size() > 0)
{
uint32_t data = 0;
bool updated = false;
uint32_t data = 0;
for (int i = 0; i < dxl->bulk_read_items_.size(); i++)
{
ControlTableItem *item = dxl->bulk_read_items_[i];
if (port_to_bulk_read_[port_name]->isAvailable(dxl->id_, item->address_, item->data_length_) == true)
{
updated = true;
data = port_to_bulk_read_[port_name]->getData(dxl->id_, item->address_, item->data_length_);
// change dxl_state
@ -938,7 +940,8 @@ void RobotisController::process()
}
// -> update time stamp to Robot->dxls[]->dynamixel_state.update_time_stamp
dxl->dxl_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
if (updated == true)
dxl->dxl_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
}
}
}
@ -954,12 +957,14 @@ void RobotisController::process()
if (sensor->bulk_read_items_.size() > 0)
{
uint32_t data = 0;
bool updated = false;
uint32_t data = 0;
for (int i = 0; i < sensor->bulk_read_items_.size(); i++)
{
ControlTableItem *item = sensor->bulk_read_items_[i];
if (port_to_bulk_read_[port_name]->isAvailable(sensor->id_, item->address_, item->data_length_) == true)
{
updated = true;
data = port_to_bulk_read_[port_name]->getData(sensor->id_, item->address_, item->data_length_);
// change sensor_state
@ -968,7 +973,8 @@ void RobotisController::process()
}
// -> update time stamp to Robot->dxls[]->dynamixel_state.update_time_stamp
sensor->sensor_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
if (updated == true)
sensor->sensor_state_->update_time_stamp_ = TimeStamp(present_state.header.stamp.sec, present_state.header.stamp.nsec);
}
}
}

2
robotis_device/devices/sensor/OPEN-CR.device Normal file → Executable file
View File

@ -10,7 +10,7 @@ device_type = sensor
4 | baudrate | 1 | RW | EEPROM | 0 | 252 | N
5 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
16 | status_return_level | 1 | RW | EEPROM | 0 | 2 | N
24 | torque_enable | 1 | RW | RAM | 0 | 1 | N
24 | dynamixel_power | 1 | RW | RAM | 0 | 1 | N
25 | LED | 1 | RW | RAM | 0 | 7 | N
26 | LED_RGB | 2 | RW | RAM | 0 | 32767 | N
28 | buzzer | 2 | RW | RAM | 0 | 65535 | N