BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- bug fixed (position pid gain & velocity pid gain sync write).

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- added velocity_to_value_ratio to DXL Pro-H series.
This commit is contained in:
ROBOTIS-zerom
2016-08-22 15:49:38 +09:00
parent fbddaf2df8
commit adaaaea42b
7 changed files with 52 additions and 22 deletions
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10
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@@ -1047,11 +1047,11 @@ void RobotisController::process()
sync_write_data[2] = DXL_LOBYTE(DXL_HIWORD(pos_data));
sync_write_data[3] = DXL_HIBYTE(DXL_HIWORD(pos_data));
if (abs(pos_data) > 151800)
{
printf("goal_pos : %f | position_offset : %f | pos_data : %d\n",
dxl_state->goal_position_, dxl_state->position_offset_, pos_data);
}
// if (abs(pos_data) > 151800)
// {
// printf("goal_pos : %f | position_offset : %f | pos_data : %d\n",
// dxl_state->goal_position_, dxl_state->position_offset_, pos_data);
// }
if (port_to_sync_write_position_[dxl->port_name_] != NULL)
port_to_sync_write_position_[dxl->port_name_]->changeParam(dxl->id_, sync_write_data);