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IntroRoboticsLab1
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Teacher wait correction

This commit is contained in:
Thomas PÉRIN 2023-03-10 09:58:57 +01:00
parent 62ba070007
commit 701287b250
1 changed files with 4 additions and 0 deletions
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4
Robot_arm.cpp
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@ -36,6 +36,7 @@ void goToHomePosition()
void print_position(const char* state) void print_position(const char* state)
{ {
cout<< state << endl; cout<< state << endl;
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
// read current joint position // read current joint position
vector<uint16_t> l_vCurrentJointPosition; vector<uint16_t> l_vCurrentJointPosition;
_oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition); _oDxlHandler.readCurrentJointPosition(l_vCurrentJointPosition);
@ -56,10 +57,13 @@ int main()
_oDxlHandler.setBaudRate(_poppyDxlBaudRate); _oDxlHandler.setBaudRate(_poppyDxlBaudRate);
_oDxlHandler.enableTorque(true); _oDxlHandler.enableTorque(true);
cout << endl; cout << endl;
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
// display current joint position // display current joint position
print_position("=========BEFORE MOVING========"); print_position("=========BEFORE MOVING========");
goToHomePosition(); goToHomePosition();
print_position("=========AFTER MOVING========="); print_position("=========AFTER MOVING=========");
std::this_thread::sleep_for(std::chrono::milliseconds(5000));
cout << "===Closing the Dynamixel Motor communication====" << endl; cout << "===Closing the Dynamixel Motor communication====" << endl;
_oDxlHandler.enableTorque(false); _oDxlHandler.enableTorque(false);
_oDxlHandler.closePort(); _oDxlHandler.closePort();