BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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added XM-430-W210 / XM-430-W350 device file.

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This commit is contained in:
ROBOTIS-zerom
2016-07-25 11:35:12 +09:00
parent 2791506926
commit e8792df697
4 changed files with 162 additions and 6 deletions
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10
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@@ -870,7 +870,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
fprintf(stderr, "(%2.6f) BulkRead Rx & update state", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) BulkRead Rx & update state \n", time_duration.nsec * 0.000001);
}
// Call SensorModule Process()
@@ -889,7 +889,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
fprintf(stderr, "(%2.6f) SensorModule Process() & save result", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) SensorModule Process() & save result \n", time_duration.nsec * 0.000001);
}
if (controller_mode_ == MotionModuleMode)
@@ -1009,7 +1009,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
fprintf(stderr, "(%2.6f) MotionModule Process() & save result", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) MotionModule Process() & save result \n", time_duration.nsec * 0.000001);
}
// SyncWrite
@@ -1117,7 +1117,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
fprintf(stderr, "(%2.6f) SyncWrite & BulkRead Tx", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) SyncWrite & BulkRead Tx \n", time_duration.nsec * 0.000001);
}
// publish present & goal position
@@ -1144,7 +1144,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
fprintf(stderr, "(%2.6f) Process() DONE", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) Process() DONE \n", time_duration.nsec * 0.000001);
}
is_process_running = false;