BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- changed all values read by bulk read are saved to dxl_state_->bulk_read_table_.

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This commit is contained in:
robotis
2018-03-07 18:42:28 +09:00
parent 6ad9f4da3f
commit ee6f240f90
1 changed files with 6 additions and 6 deletions
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12
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@@ -499,7 +499,7 @@ void RobotisController::initializeDevice(const std::string init_file_path)
bulkread_data_length += addr_leng;
for (int l = 0; l < addr_leng; l++)
{
// ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", joint_name.c_str(), indirect_addr, dxl->ctrl_table[dxl->bulk_read_items[i]->item_name]->address + _l);
//ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", joint_name.c_str(), indirect_addr, dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l);
read2Byte(joint_name, indirect_addr, &data16);
if (data16 != dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l)
{
@@ -946,8 +946,8 @@ void RobotisController::process()
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_torque_ = dxl->convertValue2Torque(data);
else
dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
}
}
@@ -1166,8 +1166,8 @@ void RobotisController::process()
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_torque_ = dxl->convertValue2Torque(data);
else
dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
dxl->dxl_state_->bulk_read_table_[item->item_name_] = data;
}
}
@@ -1251,7 +1251,7 @@ void RobotisController::process()
if (result_state == NULL)
{
fprintf(stderr, "[%s] %s", (*module_it)->getModuleName().c_str(), joint_name.c_str());
ROS_ERROR("[%s] %s ", (*module_it)->getModuleName().c_str(), joint_name.c_str());
continue;
}