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IntroRoboticsLab1
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Merge branch 'develop' into main

This commit is contained in:
Camille CONJAT 2023-03-09 09:30:41 +01:00
parent 64e07f3b50 5670602d22
commit 98873bfc12
2 changed files with 32 additions and 39 deletions
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33
main.cpp
View File

@ -12,6 +12,21 @@ float _minJointCmd = 0;
float _maxJointCmd = 1023;
float _minJointAngle = -180.0f;
float _maxJointAngle = 180.0f;
int 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()
{ std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
_oDxlHandler.setDeviceName(_poppyDxlPortName);
@ -29,11 +44,27 @@ for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
std::cout << l_vCurrentJointPosition[l_joint] << ", ";
std::cout << ")" << std::endl;
// wait 1s
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
_oDxlHandler.enableTorque(false);
_oDxlHandler.closePort();
std::cout << std::endl;
return 0;
goToHomePosition();
// wait 1s
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
_oDxlHandler.enableTorque(false);
_oDxlHandler.closePort();
std::cout << std::endl;
// read current joint position
std::vector<uint16_t> l_vCurrentJointPosition;
_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
// display current joint position
std::cout << "vCurrentJointPosition= (" << std::endl;
for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
std::cout << l_vCurrentJointPosition[l_joint] << ", ";
std::cout << ")" << std::endl;
}

38
main.cpp.autosave
View File

@ -1,38 +0,0 @@
#include <iostream>
#include <chrono>
#include <thread>
#include "DynamixelHandler.h"
// Global variables
DynamixelHandler _oDxlHandler;
std::string _poppyDxlPortName = "/dev/ttyUSB0";
float _poppyDxlProtocol = 2.0;
int _poppyDxlBaudRate = 1000000;
int _nbJoints = 6;
float _minJointCmd = 0;
float _maxJointCmd = 1023;
float _minJointAngle = -180.0f;
float _maxJointAngle = 180.0f;
int main()
{ std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
_oDxlHandler.setDeviceName(_poppyDxlPortName);
_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
_oDxlHandler.openPort();
_oDxlHandler.setBaudRate(_poppyDxlBaudRate);
_oDxlHandler.enableTorque(true);
std::cout << std::endl;
// read current joint position
std::vector<uint16_t> l_vCurrentJointPosition;
_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
// display current joint position
std::cout << "vCurrentJointPosition= (" << std::endl;
for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
std::cout << l_vCurrentJointPosition[l_joint] << ", ";
std::cout << ")" << std::endl;
// wait 1s
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
_oDxlHandler.enableTorque(false);
_oDxlHandler.closePort();
std::cout << std::endl;
return 0;
}