71 lines
2.4 KiB
C++
71 lines
2.4 KiB
C++
#include <iostream>
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#include <chrono>
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#include <thread>
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#include "DynamixelHandler.h"
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// Global variables
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DynamixelHandler _oDxlHandler;
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std::string _poppyDxlPortName = "/dev/ttyUSB0";
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float _poppyDxlProtocol = 2.0;
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int _poppyDxlBaudRate = 1000000;
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int _nbJoints = 6;
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float _minJointCmd = 0;
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float _maxJointCmd = 1023;
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float _minJointAngle = -180.0f;
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float _maxJointAngle = 180.0f;
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int convertAnglesToJointCmd(float fJointAngle)
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{ // y = ax + b
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float a = (_maxJointCmd-_minJointCmd) / (_maxJointAngle - _minJointAngle);
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float b = _minJointCmd - a * _minJointAngle;
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float jointCmd = a * fJointAngle + b;
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return (int)jointCmd;
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}
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void goToHomePosition()
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{ std::vector<uint16_t> l_vTargetJointPosition;
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for (int l_joint = 0; l_joint < _nbJoints; l_joint++)
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
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}
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int main()
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{ std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
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_oDxlHandler.setDeviceName(_poppyDxlPortName);
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_oDxlHandler.setProtocolVersion(_poppyDxlProtocol);
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_oDxlHandler.openPort();
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_oDxlHandler.setBaudRate(_poppyDxlBaudRate);
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_oDxlHandler.enableTorque(true);
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std::cout << std::endl;
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// read current joint position
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std::vector<uint16_t> l_vCurrentJointPosition;
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_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
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// display current joint position
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std::cout << "vCurrentJointPosition= (" << std::endl;
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for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
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std::cout << l_vCurrentJointPosition[l_joint] << ", ";
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std::cout << ")" << std::endl;
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// wait 1s
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
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_oDxlHandler.enableTorque(false);
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_oDxlHandler.closePort();
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std::cout << std::endl;
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return 0;
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goToHomePosition();
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// wait 1s
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
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_oDxlHandler.enableTorque(false);
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_oDxlHandler.closePort();
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std::cout << std::endl;
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// read current joint position
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std::vector<uint16_t> l_vCurrentJointPosition;
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_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
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// display current joint position
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std::cout << "vCurrentJointPosition= (" << std::endl;
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for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
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std::cout << l_vCurrentJointPosition[l_joint] << ", ";
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std::cout << ")" << std::endl;
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}
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