BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- modified torque control code

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This commit is contained in:
ROBOTIS-zerom
2016-07-06 16:26:40 +09:00
parent e3381ca424
commit 68f2ac81f0
18 changed files with 72 additions and 54 deletions
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4
robotis_controller/include/robotis_controller/robotis_controller.h
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@ -115,7 +115,9 @@ public:
ros::Publisher present_joint_state_pub_;
ros::Publisher current_module_pub_;
std::map<std::string, ros::Publisher> gazebo_joint_pub_;
std::map<std::string, ros::Publisher> gazebo_joint_position_pub_;
std::map<std::string, ros::Publisher> gazebo_joint_velocity_pub_;
std::map<std::string, ros::Publisher> gazebo_joint_effort_pub_;
static void *timerThread(void *param);

62
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@ -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->convertValue2Current(read_data);
dxl->dxl_state_->goal_current_ = dxl->dxl_state_->present_current_;
dxl->dxl_state_->present_current_ = dxl->convertValue2Torque(read_data);
dxl->dxl_state_->goal_torque_ = dxl->dxl_state_->present_current_;
}
}
}
@ -557,8 +557,12 @@ void RobotisController::msgQueueThread()
{
for (std::map<std::string, Dynamixel*>::iterator it = robot_->dxls_.begin(); it != robot_->dxls_.end(); it++)
{
gazebo_joint_pub_[it->first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it->first + "_pos/command", 1);
gazebo_joint_position_pub_[it->first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it->first + "_position/command", 1);
gazebo_joint_velocity_pub_[it->first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it->first + "_velocity/command", 1);
gazebo_joint_effort_pub_[it->first] = ros_node.advertise<std_msgs::Float64>(
"/" + gazebo_robot_name_ + "/" + it->first + "_effort/command", 1);
}
}
@ -814,13 +818,13 @@ 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->convertValue2Current(data);
dxl->dxl_state_->present_current_ = 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_)
dxl->dxl_state_->goal_velocity_ = dxl->convertValue2Velocity(data);
else if (dxl->goal_current_item_ != 0 && item->item_name_ == dxl->goal_current_item_->item_name_)
dxl->dxl_state_->goal_current_ = dxl->convertValue2Current(data);
dxl->dxl_state_->goal_torque_ = dxl->convertValue2Torque(data);
else
dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
}
@ -982,11 +986,11 @@ void RobotisController::process()
}
else if ((*module_it)->getControlMode() == CurrentControl)
{
dxl_state->goal_current_ = result_state->goal_current_;
dxl_state->goal_torque_ = result_state->goal_torque_;
if (gazebo_mode_ == false)
{
uint32_t curr_data = dxl->convertCurrent2Value(dxl_state->goal_current_);
uint32_t curr_data = dxl->convertTorque2Value(dxl_state->goal_torque_);
uint8_t sync_write_data[2] = { 0 };
sync_write_data[0] = DXL_LOBYTE(curr_data);
sync_write_data[1] = DXL_HIBYTE(curr_data);
@ -1041,13 +1045,39 @@ void RobotisController::process()
}
else if (gazebo_mode_ == true)
{
std_msgs::Float64 joint_msg;
for (std::map<std::string, Dynamixel *>::iterator dxl_it = robot_->dxls_.begin(); dxl_it != robot_->dxls_.end();
dxl_it++)
for (std::list<MotionModule*>::iterator module_it = motion_modules_.begin(); module_it != motion_modules_.end(); module_it++)
{
joint_msg.data = dxl_it->second->dxl_state_->goal_position_;
gazebo_joint_pub_[dxl_it->first].publish(joint_msg);
if ((*module_it)->getModuleEnable() == false)
continue;
std_msgs::Float64 joint_msg;
for (std::map<std::string, Dynamixel *>::iterator dxl_it = robot_->dxls_.begin(); dxl_it != robot_->dxls_.end();
dxl_it++)
{
std::string joint_name = dxl_it->first;
Dynamixel *dxl = dxl_it->second;
DynamixelState *dxl_state = dxl_it->second->dxl_state_;
if (dxl->ctrl_module_name_ == (*module_it)->getModuleName())
{
if ((*module_it)->getControlMode() == PositionControl)
{
joint_msg.data = dxl_state->goal_position_;
gazebo_joint_position_pub_[joint_name].publish(joint_msg);
}
else if ((*module_it)->getControlMode() == VelocityControl)
{
joint_msg.data = dxl_state->goal_velocity_;
gazebo_joint_velocity_pub_[joint_name].publish(joint_msg);
}
else if ((*module_it)->getControlMode() == CurrentControl)
{
joint_msg.data = dxl_state->goal_torque_;
gazebo_joint_effort_pub_[joint_name].publish(joint_msg);
}
}
}
}
}
}
@ -1104,7 +1134,7 @@ void RobotisController::process()
goal_state.name.push_back(joint_name);
goal_state.position.push_back(dxl->dxl_state_->goal_position_);
goal_state.velocity.push_back(dxl->dxl_state_->goal_velocity_);
goal_state.effort.push_back(dxl->dxl_state_->goal_current_);
goal_state.effort.push_back(dxl->dxl_state_->goal_torque_);
}
// -> publish present joint_states & goal joint states topic
@ -1510,7 +1540,7 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
}
else if (mode == CurrentControl)
{
uint32_t curr_data = dxl->convertCurrent2Value(dxl->dxl_state_->goal_current_);
uint32_t curr_data = dxl->convertTorque2Value(dxl->dxl_state_->goal_torque_);
uint8_t sync_write_data[4] = { 0 };
sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(curr_data));
sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(curr_data));

2
robotis_device/devices/dynamixel/H42-20-S300-R.device
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@ -3,7 +3,7 @@ model_name = H42-20-S300-R
device_type = dynamixel
[type info]
current_ratio = 4.0283203125
torque_to_current_value_ratio = 27.15146
value_of_0_radian_position = 0
value_of_min_radian_position = -151900

2
robotis_device/devices/dynamixel/H54-100-S500-R.device
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@ -3,7 +3,7 @@ model_name = H54-100-S500-R
device_type = dynamixel
[type info]
current_ratio = 16.11328125
torque_to_current_value_ratio = 9.66026
value_of_0_radian_position = 0
value_of_min_radian_position = -250950

2
robotis_device/devices/dynamixel/H54-200-B500-R.device
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@ -3,7 +3,7 @@ model_name = H54-200-B500-R
device_type = dynamixel
[type info]
current_ratio = 16.11328125
torque_to_current_value_ratio = 9.09201
value_of_0_radian_position = 0
value_of_min_radian_position = -250950

2
robotis_device/devices/dynamixel/H54-200-S500-R.device
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@ -3,7 +3,7 @@ model_name = H54-200-S500-R
device_type = dynamixel
[type info]
current_ratio = 16.11328125
torque_to_current_value_ratio = 9.09201
value_of_0_radian_position = 0
value_of_min_radian_position = -250950

2
robotis_device/devices/dynamixel/L54-30-S400-R.device
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@ -3,8 +3,6 @@ model_name = L54-30-S400-R
device_type = dynamixel
[type info]
current_ratio = 16.11328125
value_of_0_radian_position = 0
value_of_min_radian_position = -144198
value_of_max_radian_position = 144198

2
robotis_device/devices/dynamixel/L54-30-S500-R.device
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@ -3,8 +3,6 @@ model_name = L54-30-S500-R
device_type = dynamixel
[type info]
current_ratio = 16.11328125
value_of_0_radian_position = 0
value_of_min_radian_position = -180684
value_of_max_radian_position = 180684

2
robotis_device/devices/dynamixel/L54-50-S290-R.device
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@ -3,8 +3,6 @@ model_name = L54-50-S290-R
device_type = dynamixel
[type info]
current_ratio = 16.11328125
value_of_0_radian_position = 0
value_of_min_radian_position = -103860
value_of_max_radian_position = 103860

2
robotis_device/devices/dynamixel/L54-50-S500-R.device
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@ -3,8 +3,6 @@ model_name = L54-50-S500-R
device_type = dynamixel
[type info]
current_ratio = 16.11328125
value_of_0_radian_position = 0
value_of_min_radian_position = -180684
value_of_max_radian_position = 180684

2
robotis_device/devices/dynamixel/M42-10-S260-R.device
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@ -3,8 +3,6 @@ model_name = M42-10-S260-R
device_type = dynamixel
[type info]
current_ratio = 4.0283203125
value_of_0_radian_position = 0
value_of_min_radian_position = -131584
value_of_max_radian_position = 131584

2
robotis_device/devices/dynamixel/M54-40-S250-R.device
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@ -3,8 +3,6 @@ model_name = M54-40-S250-R
device_type = dynamixel
[type info]
current_ratio = 16.11328125
value_of_0_radian_position = 0
value_of_min_radian_position = -125700
value_of_max_radian_position = 125700

2
robotis_device/devices/dynamixel/M54-60-S250-R.device
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@ -3,8 +3,6 @@ model_name = M54-60-S250-R
device_type = dynamixel
[type info]
current_ratio = 16.11328125
value_of_0_radian_position = 0
value_of_min_radian_position = -125700
value_of_max_radian_position = 125700

2
robotis_device/devices/dynamixel/XM-430.device
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@ -3,7 +3,7 @@ model_name = XM-430
device_type = dynamixel
[type info]
current_ratio = 2.69
torque_to_current_value_ratio = 178.842161
value_of_0_radian_position = 2048
value_of_min_radian_position = 0

8
robotis_device/include/robotis_device/dynamixel.h
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@ -56,8 +56,8 @@ public:
std::string ctrl_module_name_;
DynamixelState *dxl_state_;
double current_ratio_;
double velocity_ratio_;
double velocity_to_value_ratio_;
double torque_to_current_value_ratio_;
int32_t value_of_0_radian_position_;
int32_t value_of_min_radian_position_;
@ -82,8 +82,8 @@ public:
double convertValue2Velocity(int32_t value);
int32_t convertVelocity2Value(double velocity);
double convertValue2Current(int16_t value);
int16_t convertCurrent2Value(double current);
double convertValue2Torque(int16_t value);
int16_t convertTorque2Value(double torque);
};
}

4
robotis_device/include/robotis_device/dynamixel_state.h
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@ -58,7 +58,7 @@ public:
double present_current_;
double goal_position_;
double goal_velocity_;
double goal_current_;
double goal_torque_;
double position_p_gain_;
std::map<std::string, uint32_t> bulk_read_table_;
@ -72,7 +72,7 @@ public:
present_current_(0.0),
goal_position_(0.0),
goal_velocity_(0.0),
goal_current_(0.0),
goal_torque_(0.0),
position_p_gain_(0.0),
position_offset_(0.0)
{

16
robotis_device/src/robotis_device/dynamixel.cpp
View File

@ -41,8 +41,8 @@ using namespace robotis_framework;
Dynamixel::Dynamixel(int id, std::string model_name, float protocol_version)
: ctrl_module_name_("none"),
current_ratio_(1.0),
velocity_ratio_(1.0),
torque_to_current_value_ratio_(1.0),
velocity_to_value_ratio_(1.0),
value_of_0_radian_position_(0),
value_of_min_radian_position_(0),
value_of_max_radian_position_(0),
@ -128,20 +128,20 @@ int32_t Dynamixel::convertRadian2Value(double radian)
double Dynamixel::convertValue2Velocity(int32_t value)
{
return (double) value * velocity_ratio_;
return (double) value / velocity_to_value_ratio_;
}
int32_t Dynamixel::convertVelocity2Value(double velocity)
{
return (int32_t) (velocity / velocity_ratio_);;
return (int32_t) (velocity * velocity_to_value_ratio_);;
}
double Dynamixel::convertValue2Current(int16_t value)
double Dynamixel::convertValue2Torque(int16_t value)
{
return (double) value * current_ratio_;
return (double) value / torque_to_current_value_ratio_;
}
int16_t Dynamixel::convertCurrent2Value(double current)
int16_t Dynamixel::convertTorque2Value(double torque)
{
return (int16_t) (current / current_ratio_);
return (int16_t) (torque * torque_to_current_value_ratio_);
}

8
robotis_device/src/robotis_device/robot.cpp
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@ -366,10 +366,10 @@ Dynamixel *Robot::getDynamixel(std::string path, int id, std::string port, float
if (tokens.size() != 2)
continue;
if (tokens[0] == "current_ratio")
dxl->current_ratio_ = std::atof(tokens[1].c_str());
else if (tokens[0] == "velocity_ratio")
dxl->velocity_ratio_ = std::atof(tokens[1].c_str());
if (tokens[0] == "torque_to_current_value_ratio")
dxl->torque_to_current_value_ratio_ = std::atof(tokens[1].c_str());
else if (tokens[0] == "velocity_to_value_ratio")
dxl->velocity_to_value_ratio_ = std::atof(tokens[1].c_str());
else if (tokens[0] == "value_of_0_radian_position")
dxl->value_of_0_radian_position_ = std::atoi(tokens[1].c_str());