BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- rename (present_current_ -> present_torque_)

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This commit is contained in:
ROBOTIS-zerom
2016-07-06 16:35:54 +09:00
parent 68f2ac81f0
commit 55e2f6e0f8
2 changed files with 7 additions and 7 deletions
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10
robotis_controller/src/robotis_controller/robotis_controller.cpp
View File

@ -159,8 +159,8 @@ void RobotisController::initializeSyncWrite()
else if ((dxl->present_current_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->present_current_item_->item_name_))
{
dxl->dxl_state_->present_current_ = dxl->convertValue2Torque(read_data);
dxl->dxl_state_->goal_torque_ = dxl->dxl_state_->present_current_;
dxl->dxl_state_->present_torque_ = dxl->convertValue2Torque(read_data);
dxl->dxl_state_->goal_torque_ = dxl->dxl_state_->present_torque_;
}
}
}
@ -818,7 +818,7 @@ void RobotisController::process()
else if (dxl->present_velocity_item_ != 0 && item->item_name_ == dxl->present_velocity_item_->item_name_)
dxl->dxl_state_->present_velocity_ = dxl->convertValue2Velocity(data);
else if (dxl->present_current_item_ != 0 && item->item_name_ == dxl->present_current_item_->item_name_)
dxl->dxl_state_->present_current_ = dxl->convertValue2Torque(data);
dxl->dxl_state_->present_torque_ = dxl->convertValue2Torque(data);
else if (dxl->goal_position_item_ != 0 && item->item_name_ == dxl->goal_position_item_->item_name_)
dxl->dxl_state_->goal_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
else if (dxl->goal_velocity_item_ != 0 && item->item_name_ == dxl->goal_velocity_item_->item_name_)
@ -1129,7 +1129,7 @@ void RobotisController::process()
present_state.name.push_back(joint_name);
present_state.position.push_back(dxl->dxl_state_->present_position_);
present_state.velocity.push_back(dxl->dxl_state_->present_velocity_);
present_state.effort.push_back(dxl->dxl_state_->present_current_);
present_state.effort.push_back(dxl->dxl_state_->present_torque_);
goal_state.name.push_back(joint_name);
goal_state.position.push_back(dxl->dxl_state_->goal_position_);
@ -1607,7 +1607,7 @@ void RobotisController::gazeboJointStatesCallback(const sensor_msgs::JointState:
{
d_it->second->dxl_state_->present_position_ = msg->position[i];
d_it->second->dxl_state_->present_velocity_ = msg->velocity[i];
d_it->second->dxl_state_->present_current_ = msg->effort[i];
d_it->second->dxl_state_->present_torque_ = msg->effort[i];
}
}

4
robotis_device/include/robotis_device/dynamixel_state.h
View File

@ -55,7 +55,7 @@ public:
double present_position_;
double present_velocity_;
double present_current_;
double present_torque_;
double goal_position_;
double goal_velocity_;
double goal_torque_;
@ -69,7 +69,7 @@ public:
: update_time_stamp_(0, 0),
present_position_(0.0),
present_velocity_(0.0),
present_current_(0.0),
present_torque_(0.0),
goal_position_(0.0),
goal_velocity_(0.0),
goal_torque_(0.0),