added feature to teach points to the poppy, with torque disabled, before going to taught positions
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Gabri6
parent
0e1bad417d
commit
a6039b22af
137
main.cpp
137
main.cpp
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@ -4,6 +4,8 @@
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//#include<windows.h>//for windows
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#include<unistd.h>//for linux
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#include "DynamixelHandler.h"
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#include <array>
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// Global variables
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DynamixelHandler _oDxlHandler;
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@ -19,6 +21,9 @@ int _targetJointTorqueGripper = 1140;
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float _proportionnalIncrement = 0.025f;
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float _proportionnalIncrementAbove = 0.01f;
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float _threshold= 1.9;
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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}}};
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//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};
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int convertAnglesToJointCmd(float fJointAngle)
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{ // y = ax + b
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@ -69,6 +74,41 @@ void currentPos()
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std::cout << ")" << std::endl;
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}
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void teachTarget()
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{
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_oDxlHandler.enableTorque(false);
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int noteNumber = 333;
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std::cout << "enter 555 when all the notes have been taught\n";
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std::cout << "enter note number (starting from 0):\n"; //allows to wait until user input, and specify which note is given
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std::cin >> noteNumber;
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while(noteNumber != 555)
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{
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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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for (int l_joint=0; l_joint < notes_position[noteNumber].size(); l_joint++)
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{
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notes_position[noteNumber][l_joint] = l_vCurrentJointPosition[l_joint];
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std::cout<<notes_position[noteNumber][l_joint]<<", ";
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std::cout<<noteNumber << ", ";
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}
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currentPos(); //print position
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std::cout << "enter note number (starting from 0):\n"; //allows to wait until user input, and specify which note is given
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std::cin >> noteNumber;
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while (noteNumber < 0 or (noteNumber > 9 and noteNumber != 555)) // test if the input is good
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{ std::cout << "wrong number: enter note number (between 0 and 9), or exit with 555:\n";
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std::cin >> noteNumber;
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}
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}
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_oDxlHandler.enableTorque(true);
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}
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int closeGripper()
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{
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//read current joint 6 torque
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@ -140,70 +180,71 @@ int closeGripper()
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void playNote(int myNote)
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{
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goToPlayingPosition();
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std::this_thread::sleep_for(std::chrono::milliseconds(200));
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std::vector<uint16_t> l_vTargetJointPosition;
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switch(myNote){
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case 1:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
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l_vTargetJointPosition.push_back(notes_position[0][0]);
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l_vTargetJointPosition.push_back(notes_position[0][1]);
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l_vTargetJointPosition.push_back(notes_position[0][2]);
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l_vTargetJointPosition.push_back(notes_position[0][3]);
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l_vTargetJointPosition.push_back(notes_position[0][4]);
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break;
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case 2:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-35.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
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l_vTargetJointPosition.push_back(notes_position[1][0]);
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l_vTargetJointPosition.push_back(notes_position[1][1]);
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l_vTargetJointPosition.push_back(notes_position[1][2]);
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l_vTargetJointPosition.push_back(notes_position[1][3]);
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l_vTargetJointPosition.push_back(notes_position[1][4]);
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break;
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case 3:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
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l_vTargetJointPosition.push_back(notes_position[2][0]);
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l_vTargetJointPosition.push_back(notes_position[2][1]);
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l_vTargetJointPosition.push_back(notes_position[2][2]);
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l_vTargetJointPosition.push_back(notes_position[2][3]);
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l_vTargetJointPosition.push_back(notes_position[2][4]);
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break;
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case 4:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
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l_vTargetJointPosition.push_back(notes_position[3][0]);
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l_vTargetJointPosition.push_back(notes_position[3][1]);
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l_vTargetJointPosition.push_back(notes_position[3][2]);
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l_vTargetJointPosition.push_back(notes_position[3][3]);
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l_vTargetJointPosition.push_back(notes_position[3][4]);
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break;
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case 5:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
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l_vTargetJointPosition.push_back(notes_position[4][0]);
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l_vTargetJointPosition.push_back(notes_position[4][1]);
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l_vTargetJointPosition.push_back(notes_position[4][2]);
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l_vTargetJointPosition.push_back(notes_position[4][3]);
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l_vTargetJointPosition.push_back(notes_position[4][4]);
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break;
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case 6:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
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l_vTargetJointPosition.push_back(notes_position[5][0]);
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l_vTargetJointPosition.push_back(notes_position[5][1]);
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l_vTargetJointPosition.push_back(notes_position[5][2]);
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l_vTargetJointPosition.push_back(notes_position[5][3]);
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l_vTargetJointPosition.push_back(notes_position[5][4]);
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break;
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case 7:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
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l_vTargetJointPosition.push_back(notes_position[6][0]);
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l_vTargetJointPosition.push_back(notes_position[6][1]);
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l_vTargetJointPosition.push_back(notes_position[6][2]);
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l_vTargetJointPosition.push_back(notes_position[6][3]);
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l_vTargetJointPosition.push_back(notes_position[6][4]);
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break;
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case 8:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
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l_vTargetJointPosition.push_back(notes_position[7][0]);
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l_vTargetJointPosition.push_back(notes_position[7][1]);
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l_vTargetJointPosition.push_back(notes_position[7][2]);
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l_vTargetJointPosition.push_back(notes_position[7][3]);
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l_vTargetJointPosition.push_back(notes_position[7][4]);
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break;
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case 9:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-55.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(20.0f));
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l_vTargetJointPosition.push_back(notes_position[8][0]);
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l_vTargetJointPosition.push_back(notes_position[8][1]);
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l_vTargetJointPosition.push_back(notes_position[8][2]);
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l_vTargetJointPosition.push_back(notes_position[8][3]);
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l_vTargetJointPosition.push_back(notes_position[8][4]);
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break;
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default:
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l_vTargetJointPosition.push_back(convertAnglesToJointCmd(25.0f));
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@ -219,7 +260,7 @@ void playNote(int myNote)
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}
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int main()
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{
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{
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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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@ -237,10 +278,12 @@ int main()
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//int gripperTorque = closeGripper();
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goToPlayingPosition();
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goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();goToPlayingPosition();
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currentPos();
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teachTarget();
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playNote(1);
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playNote(2);
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playNote(3);
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goToPlayingPosition();
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// wait 1s
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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