BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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Merge pull request #66 from ROBOTIS-GIT/develop

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merged ( develop -> feature_offset )
This commit is contained in:
zerom
2018-06-01 13:36:33 +09:00
committed by GitHub
parent b9ed3fecf2 02acdb521c
commit 7f01d112df
4 changed files with 190 additions and 12 deletions
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12
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@@ -1299,7 +1299,7 @@ void RobotisController::process()
port_to_sync_write_position_[dxl->port_name_]->changeParam(dxl->id_, sync_write_data);
// if position p gain value is changed -> sync write
if (dxl_state->position_p_gain_ != result_state->position_p_gain_)
if (result_state->position_p_gain_ != 65535 && dxl_state->position_p_gain_ != result_state->position_p_gain_)
{
dxl_state->position_p_gain_ = result_state->position_p_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1313,7 +1313,7 @@ void RobotisController::process()
}
// if position i gain value is changed -> sync write
if (dxl_state->position_i_gain_ != result_state->position_i_gain_)
if (result_state->position_i_gain_ != 65535 && dxl_state->position_i_gain_ != result_state->position_i_gain_)
{
dxl_state->position_i_gain_ = result_state->position_i_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1327,7 +1327,7 @@ void RobotisController::process()
}
// if position d gain value is changed -> sync write
if (dxl_state->position_d_gain_ != result_state->position_d_gain_)
if (result_state->position_d_gain_ != 65535 && dxl_state->position_d_gain_ != result_state->position_d_gain_)
{
dxl_state->position_d_gain_ = result_state->position_d_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1358,7 +1358,7 @@ void RobotisController::process()
port_to_sync_write_velocity_[dxl->port_name_]->changeParam(dxl->id_, sync_write_data);
// if velocity p gain gain value is changed -> sync write
if (dxl_state->velocity_p_gain_ != result_state->velocity_p_gain_)
if (result_state->velocity_p_gain_ != 65535 && dxl_state->velocity_p_gain_ != result_state->velocity_p_gain_)
{
dxl_state->velocity_p_gain_ = result_state->velocity_p_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1372,7 +1372,7 @@ void RobotisController::process()
}
// if velocity i gain value is changed -> sync write
if (dxl_state->velocity_i_gain_ != result_state->velocity_i_gain_)
if (result_state->velocity_i_gain_ != 65535 && dxl_state->velocity_i_gain_ != result_state->velocity_i_gain_)
{
dxl_state->velocity_i_gain_ = result_state->velocity_i_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1386,7 +1386,7 @@ void RobotisController::process()
}
// if velocity d gain value is changed -> sync write
if (dxl_state->velocity_d_gain_ != result_state->velocity_d_gain_)
if (result_state->velocity_d_gain_ != 65535 && dxl_state->velocity_d_gain_ != result_state->velocity_d_gain_)
{
dxl_state->velocity_d_gain_ = result_state->velocity_d_gain_;
uint8_t sync_write_data[4] = { 0 };