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IntroRoboticsLab1
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Cagdas Aras CIBLAK 2023-03-10 09:49:23 +01:00
parent b54b9dab5b
commit ee931db41c
1 changed files with 15 additions and 0 deletions
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main.cpp
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@ -12,6 +12,21 @@ float _minJointCmd = 0;
float _maxJointCmd = 1023; float _maxJointCmd = 1023;
float _minJointAngle = -180.0f; float _minJointAngle = -180.0f;
float _maxJointAngle = 180.0f; float _maxJointAngle = 180.0f;
nt convertAnglesToJointCmd(float fJointAngle)
{ // y = ax + b
float a = (_maxJointCmd-_minJointCmd) / (_maxJointAngle - _minJointAngle);
float b = _minJointCmd - a * _minJointAngle;
float jointCmd = a * fJointAngle + b;
return (int)jointCmd;
}
void goToHomePosition()
{ std::vector<uint16_t> l_vTargetJointPosition;
for (int l_joint = 0; l_joint < _nbJoints; l_joint++)
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
}
int main() int main()
{ std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl; { std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
_oDxlHandler.setDeviceName(_poppyDxlPortName); _oDxlHandler.setDeviceName(_poppyDxlPortName);