Merge branch 'estevan' into main

Makefile

@@ -0,0 +1,11 @@
+all: dynamixel main
+	g++ DynamixelHandler.o main.o -L/usr/local/lib -ldxl_x64_cpp -lrt
+
+dynamixel: /home/estevan/EENG3/robotarm/toolkit-dynamixel/src/DynamixelHandler.cpp
+	g++ -c /home/estevan/EENG3/robotarm/toolkit-dynamixel/src/DynamixelHandler.cpp -I./toolkit-dynamixel/include toolkit-dynamixel/src/DynamixelHandler.cpp
+
+main: main.cpp
+	g++ -c main.cpp -I./toolkit-dynamixel/include main.cpp
+clean: 
+	rm *.o
+	rm *.exe

main.cpp

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+#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;
+int i = 0;
+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() // This function sets all the servos to their home position except the gripper servo
+{ 
+	std::vector<uint16_t> l_vTargetJointPosition;
+	for (int l_joint = 1; l_joint < _nbJoints; l_joint++)
+	{
+	l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+	}
+	int l_joint=6;
+	if (l_joint= 6)	
+	{
+		l_vTargetJointPosition.push_back(convertAnglesToJointCmd(30.0f));
+	}
+    	_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
+}
+
+void gripperControl() // This function sets all the servos to their current position(meaning they wont move from whichever position they were in) And closes the gripper to hold the cube
+{
+	std::vector<uint16_t> l_vCurrentJointPosition;
+	_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
+	// display current joint position
+	// Calculate the target joint command based on the desired angle
+	std::vector<uint16_t> l_vTargetJointPosition;
+	for (int l_joint = 1; l_joint < _nbJoints; l_joint++)
+	{
+		l_vTargetJointPosition.push_back(convertAnglesToJointCmd(l_vCurrentJointPosition[l_joint]));
+	}
+	int l_joint=6;
+	if (l_joint= 6)
+	{
+		l_vTargetJointPosition.push_back(convertAnglesToJointCmd(30.0f));
+	}
+	
+	_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
+}
+
+
+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;
+
+
+
+	std::vector<uint16_t> l_vTargetJointPosition;
+	_oDxlHandler.readCurrentJointPosition(l_vTargetJointPosition);
+	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;
+
+
+	
+	gripperControl(); // Catch the cube
+
+	std::this_thread::sleep_for(std::chrono::milliseconds(2000));
+	goToHomePosition(); //Take the cube up to home position
+	
+		// wait 1s
+	std::this_thread::sleep_for(std::chrono::milliseconds(2000));
+	std::cout << "===Closing the Dynamixel Motor communication====" << std::endl;
+	_oDxlHandler.enableTorque(false);
+	_oDxlHandler.closePort();
+	std::cout << std::endl;
+	return 0;
+}
+