added feature to teach points to the poppy, with torque disabled, before going to taught positions
This commit is contained in:
Gabri6
parent
0e1bad417d
commit
a6039b22af
135
main.cpp
135
main.cpp
|
|
@ -4,6 +4,8 @@
|
|||
//#include<windows.h>//for windows
|
||||
#include<unistd.h>//for linux
|
||||
#include "DynamixelHandler.h"
|
||||
#include <array>
|
||||
|
||||
|
||||
// Global variables
|
||||
DynamixelHandler _oDxlHandler;
|
||||
|
|
@ -19,6 +21,9 @@ int _targetJointTorqueGripper = 1140;
|
|||
float _proportionnalIncrement = 0.025f;
|
||||
float _proportionnalIncrementAbove = 0.01f;
|
||||
float _threshold= 1.9;
|
||||
std::array<std::array<short unsigned int, 6>,9> notes_position = {{{1, 2, 3, 4, 5, 6}, {2, 2, 3, 4, 5, 6}, {3, 2, 3, 4, 5, 6}, {4, 2, 3, 4, 5, 6}, {5, 2, 3, 4, 5, 6}, {6, 2, 3, 4, 5, 6}, {7, 2, 3, 4, 5, 6}, {8, 2, 3, 4, 5, 6}, {9, 2, 3, 4, 5, 6}}};
|
||||
//short unsigned int notes_position[54] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54};
|
||||
|
||||
|
||||
int convertAnglesToJointCmd(float fJointAngle)
|
||||
{ // y = ax + b
|
||||
|
|
@ -69,6 +74,41 @@ void currentPos()
|
|||
std::cout << ")" << std::endl;
|
||||
}
|
||||
|
||||
void teachTarget()
|
||||
{
|
||||
_oDxlHandler.enableTorque(false);
|
||||
|
||||
int noteNumber = 333;
|
||||
|
||||
std::cout << "enter 555 when all the notes have been taught\n";
|
||||
std::cout << "enter note number (starting from 0):\n"; //allows to wait until user input, and specify which note is given
|
||||
std::cin >> noteNumber;
|
||||
|
||||
while(noteNumber != 555)
|
||||
{
|
||||
// read current joint position
|
||||
std::vector<uint16_t> l_vCurrentJointPosition;
|
||||
_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
|
||||
for (int l_joint=0; l_joint < notes_position[noteNumber].size(); l_joint++)
|
||||
{
|
||||
notes_position[noteNumber][l_joint] = l_vCurrentJointPosition[l_joint];
|
||||
std::cout<<notes_position[noteNumber][l_joint]<<", ";
|
||||
std::cout<<noteNumber << ", ";
|
||||
}
|
||||
currentPos(); //print position
|
||||
|
||||
std::cout << "enter note number (starting from 0):\n"; //allows to wait until user input, and specify which note is given
|
||||
std::cin >> noteNumber;
|
||||
|
||||
while (noteNumber < 0 or (noteNumber > 9 and noteNumber != 555)) // test if the input is good
|
||||
{ std::cout << "wrong number: enter note number (between 0 and 9), or exit with 555:\n";
|
||||
std::cin >> noteNumber;
|
||||
}
|
||||
}
|
||||
|
||||
_oDxlHandler.enableTorque(true);
|
||||
}
|
||||
|
||||
int closeGripper()
|
||||
{
|
||||
//read current joint 6 torque
|
||||
|
|
@ -140,70 +180,71 @@ int closeGripper()
|
|||
void playNote(int myNote)
|
||||
{
|
||||
goToPlayingPosition();
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(200));
|
||||
std::vector<uint16_t> l_vTargetJointPosition;
|
||||
switch(myNote){
|
||||
case 1:
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
|
||||
l_vTargetJointPosition.push_back(notes_position[0][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[0][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[0][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[0][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[0][4]);
|
||||
break;
|
||||
case 2:
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-35.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
|
||||
l_vTargetJointPosition.push_back(notes_position[1][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[1][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[1][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[1][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[1][4]);
|
||||
break;
|
||||
case 3:
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
|
||||
l_vTargetJointPosition.push_back(notes_position[2][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[2][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[2][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[2][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[2][4]);
|
||||
break;
|
||||
case 4:
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
|
||||
l_vTargetJointPosition.push_back(notes_position[3][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[3][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[3][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[3][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[3][4]);
|
||||
break;
|
||||
case 5:
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
|
||||
l_vTargetJointPosition.push_back(notes_position[4][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[4][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[4][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[4][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[4][4]);
|
||||
break;
|
||||
case 6:
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
|
||||
l_vTargetJointPosition.push_back(notes_position[5][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[5][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[5][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[5][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[5][4]);
|
||||
break;
|
||||
case 7:
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
|
||||
l_vTargetJointPosition.push_back(notes_position[6][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[6][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[6][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[6][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[6][4]);
|
||||
break;
|
||||
case 8:
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
|
||||
l_vTargetJointPosition.push_back(notes_position[7][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[7][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[7][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[7][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[7][4]);
|
||||
break;
|
||||
case 9:
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
|
||||
l_vTargetJointPosition.push_back(notes_position[8][0]);
|
||||
l_vTargetJointPosition.push_back(notes_position[8][1]);
|
||||
l_vTargetJointPosition.push_back(notes_position[8][2]);
|
||||
l_vTargetJointPosition.push_back(notes_position[8][3]);
|
||||
l_vTargetJointPosition.push_back(notes_position[8][4]);
|
||||
break;
|
||||
default:
|
||||
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
|
||||
|
|
@ -237,10 +278,12 @@ int main()
|
|||
//int gripperTorque = closeGripper();
|
||||
|
||||
goToPlayingPosition();
|
||||
goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();
|
||||
currentPos();
|
||||
teachTarget();
|
||||
playNote(1);
|
||||
playNote(2);
|
||||
playNote(3);
|
||||
goToPlayingPosition();
|
||||
|
||||
// wait 1s
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
|
||||
|
|
|
|||
Loading…
Reference in New Issue