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IntroRoboticsLab1
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errors in sensors, other wise working

This commit is contained in:
Loïc DELATTRE 2023-03-10 12:07:35 +01:00
parent a1bb8e1eb3
commit be322b5f81
1 changed files with 5 additions and 4 deletions
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9
Robot_arm.cpp
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@ -35,13 +35,14 @@ void goToHomePosition()
void gripperControl(){ void gripperControl(){
while(true){ while(true){
int slot = 2;
std::vector<uint16_t> l_vCurrentJointTorque; std::vector<uint16_t> l_vCurrentJointTorque;
_oDxlHandler.readCurrentJointTorque(l_vCurrentJointTorque); _oDxlHandler.readCurrentJointTorque(l_vCurrentJointTorque);
int angle = 0; int angle = 0;
int var = l_vCurrentJointTorque[5]; int var = l_vCurrentJointTorque[slot];
cout<<"initial torque value = "<<var<<endl; cout<<"initial torque value = "<<var<<endl;
while (var < 1100){ while (var < 2000){
int var = l_vCurrentJointTorque[5]; int var = l_vCurrentJointTorque[slot];
vector<uint16_t> l_vTargetJointPosition; vector<uint16_t> l_vTargetJointPosition;
for (int l_joint = 0; l_joint < (_nbJoints-1); l_joint++) for (int l_joint = 0; l_joint < (_nbJoints-1); l_joint++)
{ {
@ -52,7 +53,7 @@ void gripperControl(){
std::this_thread::sleep_for(std::chrono::milliseconds(200)); std::this_thread::sleep_for(std::chrono::milliseconds(200));
_oDxlHandler.readCurrentJointTorque(l_vCurrentJointTorque); _oDxlHandler.readCurrentJointTorque(l_vCurrentJointTorque);
std::this_thread::sleep_for(std::chrono::milliseconds(200)); std::this_thread::sleep_for(std::chrono::milliseconds(200));
cout<<"torque value: "<<l_vCurrentJointTorque[5]<<endl; cout<<"torque value: "<<l_vCurrentJointTorque[slot]<<endl;
angle ++; angle ++;
} }
cout<<"done!!!!!!!!!!!"<<endl; cout<<"done!!!!!!!!!!!"<<endl;