gabriel.lucas
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poppyMusician
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put the poppy in playing start position

This commit is contained in:
Gabri6 2024-03-07 11:06:29 +01:00
parent 9edde290d6
commit ea6a0c2b1a
1 changed files with 10 additions and 13 deletions
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23
main.cpp
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@ -46,11 +46,11 @@ void goToPlayingPosition()
{
std::vector<uint16_t> l_vTargetJointPosition;
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(90.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(-45.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(45.0f));
l_vTargetJointPosition.push_back(convertAnglesToJointCmd(38.0f)); //mettre pince à convertAnglesToJointCmd(38.0f) (à revérifier si ça ne change pas avec un poppy différent)
_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
}
@ -61,13 +61,13 @@ void currentPos()
_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
// display current joint position
//std::cout << "vCurrentJointPosition= (";
//for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
// std::cout << l_vCurrentJointPosition[l_joint] << ", ";
//std::cout << ")" << std::endl;
std::cout << "vCurrentJointPosition= (";
for (int l_joint=0; l_joint < l_vCurrentJointPosition.size(); l_joint++)
std::cout << l_vCurrentJointPosition[l_joint] << ", ";
std::cout << ")" << std::endl;
}
int gripperControl()
int closeGripper()
{
//read current joint 6 torque
std::vector<uint16_t> l_vCurrentJointTorque;
@ -135,9 +135,6 @@ int gripperControl()
return (int)joint6Torque;
}
//mettre pince à convertAnglesToJointCmd(38.0f) (à revérifier si ça ne change pas avec un poppy différent)
int main()
{
std::cout << "===Initialization of the Dynamixel Motor communication====" << std::endl;
@ -154,9 +151,9 @@ int main()
currentPos();
int gripperTorque = gripperControl();
//int gripperTorque = closeGripper();
goToHomePosition();
goToPlayingPosition();
// wait 1s
std::this_thread::sleep_for(std::chrono::milliseconds(1000));