int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam) {
wam.gravityCompensate();
printMenu();
std::string line;
bool going = true;
while (going) {
printf(">>> ");
std::getline(std::cin, line);
switch (line[0]) {
case 'j':
printf("Holding joint positions.\n");
wam.moveTo(wam.getJointPositions());
break;
case 'p':
printf("Holding tool position.\n");
wam.moveTo(wam.getToolPosition());
break;
case 'o':
printf("Holding tool orientation.\n");
wam.moveTo(wam.getToolOrientation());
break;
case 'b':
printf("Holding both tool position and orientation.\n");
wam.moveTo(wam.getToolPose());
break;
case 'i':
printf("WAM idled.\n");
// Note that this use of the word "idle" does not mean "Shift-idle".
// Calling Wam::idle() will disable any of the controllers that may
// be connected (joint position, tool position, tool orientation,
// etc.) leaving only gravity compensation. (More specifically,
// Wam::idle() disconnects any inputs that were connected using
// Wam::trackReferenceSignal().)
wam.idle();
break;
case 'q':
case 'x':
printf("Quitting.\n");
wam.moveHome();
going = false;
break;
default:
if (line.size() != 0) {
printf("Unrecognized option.\n");
printMenu();
}
break;
}
}
// Release the WAM if we're holding. This is convenient because it allows
// users to move the WAM back to some collapsed position before exiting, if
// they want.
wam.idle();
// Wait for the user to press Shift-idle
pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
return 0;
}
int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam)
{
BARRETT_UNITS_TEMPLATE_TYPEDEFS(DOF);
cp_type cartSetPoint;
wam.gravityCompensate();
/////////////////////////////////////////////////////////////////////////////////////
// Add the following to our system to make our Cartesian controller much more robust.
/////////////////////////////////////////////////////////////////////////////////////
// Set up singularity avoidance springs
jp_type joint_center(0.0); // Initialize our joint centers to 0.0 on all joints
std::vector<double> spring_constants(DOF); // create spring constants
std::vector<double> damping_constants(DOF); // create damping constants
joint_center[0] = 0.0;
joint_center[1] = 0.0;
joint_center[2] = 0.0;
joint_center[3] = 1.1; // J4 Joint Range Center at 1.1 Radians
spring_constants[0] = 15.0;
spring_constants[1] = 5.0;
spring_constants[2] = 5.0;
spring_constants[3] = 5.0;
damping_constants[0] = 10.0;
damping_constants[1] = 20.0;
damping_constants[2] = 10.0;
damping_constants[3] = 6.0;
if (DOF == 7)
{
joint_center[4] = -1.76; // J5 Joint Range Center at -1.76 Radians
joint_center[5] = 0.0;
joint_center[6] = 0.0;
spring_constants[4] = 0.5;
spring_constants[5] = 0.25;
spring_constants[6] = 0.25;
damping_constants[4] = 0.05;
damping_constants[5] = 0.05;
damping_constants[6] = 0.0;
}
printf("Press Enter to Turn on Haptic Singularity Avoidance.\n");
detail::waitForEnter();
//Initialization Move
jp_type wam_init = wam.getHomePosition();
wam_init[3] -= .35;
wam.moveTo(wam_init); // Adjust the elbow, moving the end-effector out of the haptic boundary and hold position for haptic force initialization.
// Change decrease our tool position controller gains slightly
cp_type cp_kp, cp_kd;
for (size_t i = 0; i < 3; i++)
{
cp_kp[i] = 1500;
cp_kd[i] = 5.0;
}
wam.tpController.setKp(cp_kp);
wam.tpController.setKd(cp_kd);
//Torque Summer from our three systems
systems::Summer<jt_type, 4> singJTSum(true);
// Our singularity avoidance system
SingularityAvoid<DOF> singularityAvoid(joint_center);
systems::connect(wam.jpOutput, singularityAvoid.input);
systems::connect(singularityAvoid.output, singJTSum.getInput(0));
// Attach our joint stop springs
JointStopSprings<DOF> jointStopSprings(joint_center, spring_constants);
systems::connect(wam.jpOutput, jointStopSprings.input);
systems::connect(jointStopSprings.output, singJTSum.getInput(1));
// Joint velocity damper for kinematic solutions causing velocity faults
JVDamper<DOF> jvDamper(damping_constants);
systems::connect(wam.jvOutput, jvDamper.input);
systems::connect(jvDamper.output, singJTSum.getInput(2));
// Haptic collision avoidance boundary portion
HapticCollisionAvoid<DOF> hapticCollisionAvoid(2000);
systems::ToolForceToJointTorques<DOF> tf2jt;
systems::connect(wam.kinematicsBase.kinOutput, tf2jt.kinInput);
systems::connect(wam.toolPosition.output, hapticCollisionAvoid.input);
systems::connect(hapticCollisionAvoid.output, tf2jt.input);
systems::connect(tf2jt.output, singJTSum.getInput(3));
systems::connect(singJTSum.output, wam.input);
// New system watchdogs to monitor and stop trajectories if expecting a fault
TorqueWatchdog<DOF> torqueWatchdog;
VelocityWatchdog<DOF> velocityWatchdog;
pm.getExecutionManager()->startManaging(torqueWatchdog);
pm.getExecutionManager()->startManaging(velocityWatchdog);
systems::connect(wam.jtSum.output, torqueWatchdog.input);
systems::connect(wam.jvOutput, velocityWatchdog.input);
/////////////////////////////////////////////////////////////////////////////////////
// End of robust cartesian setup
/////////////////////////////////////////////////////////////////////////////////////
printf("Press Enter to start test.\n");
detail::waitForEnter();
int i;
for (i = 1; i < 31; i++) //from random.cc
{
srand(time(NULL));
double x = -1 + 2 * ((double)rand()) / RAND_MAX;
double y = -1 + 2 * (((double)rand()) / ((double)RAND_MAX));
double z = ((double)rand()) / ((double)RAND_MAX);
cartSetPoint[0] = x;
cartSetPoint[1] = y;
cartSetPoint[2] = z;
double reach = sqrt(x * x + y * y + z * z);
if (reach < 0.95)
{
std::cout << i << ": Moving to coordinate " << x << ", " << y << ", " << z << ".\n";
std::cout << reach << "\n";
wam.moveTo(cartSetPoint, false);
torqueWatchdog.activate();
velocityWatchdog.activate(); // The situation here is interesting. A velocity fault can present itself from Cartesian end-effector or elbow velocities,
// However, in its current capacity, we can only monitor joint velocities, or end-effector velocities.
bool faulted = false;
while (!wam.moveIsDone() && !faulted)
{
//Check our velocity and torque output to see if crossing threshold (approaching a fault situation)
jt_type curJT = torqueWatchdog.getCurrentTorque();
jv_type curJV = velocityWatchdog.getCurrentVelocity();
for (size_t i = 0; i < DOF; i++)
{
if (curJT[i] > 30.0 || curJV[i] > 0.9)
{
wam.idle();
printf("Stopping Move - Fault presented on Joint %zu - Torque: %f, Velocity: %f\n", i, curJT[i],
curJV[i]);
faulted = true;
wam.moveTo(wam.getJointPositions());
}
}
btsleep(0.01);
}
torqueWatchdog.deactivate();
velocityWatchdog.deactivate();
continue;
}
else
i--;
continue;
}
systems::disconnect(wam.input);
wam.moveHome();
pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
return 0;
}
int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam) {
BARRETT_UNITS_TEMPLATE_TYPEDEFS(DOF);
wam.gravityCompensate();
bool gComp = true;
pm.getSafetyModule()->setVelocityLimit(0.3);
jp_type jp;
size_t joint = 0;
systems::ExposedOutput<jp_type> setPoint;
std::string line;
bool going = true;
while (going) {
printf(">>> ");
std::getline(std::cin, line);
if (line.size() == 0) {
wam.moveTo(jp);
libconfig::Config config;
config.readFile("tuning.conf");
systems::PIDController<jp_type, jt_type> jpc(config.lookup(pm.getWamDefaultConfigPath())["joint_position_control"]);
systems::connect(setPoint.output, jpc.referenceInput);
systems::connect(wam.jpOutput, jpc.feedbackInput);
wam.idle();
usleep(100000);
systems::connect(jpc.controlOutput, wam.input);
printf("Controller updated.\n");
printf("Press enter for step.\n");
std::getline(std::cin, line);
jp[joint] += 0.02;
setPoint.setValue(jp);
std::getline(std::cin, line);
systems::disconnect(wam.input);
wam.moveTo(jp);
printf("Original controller now in use.\n");
continue;
}
switch (line[0]) {
case 'h':
printf("Set point updated.\n");
jp = wam.getJointPositions();
wam.moveTo(jp);
setPoint.setValue(jp);
break;
case 'i':
printf("WAM idled.\n");
wam.idle();
break;
case 'j':
joint = (joint + 1) % DOF;
printf("Step joint %zu.\n", joint+1);
break;
case 'g':
gComp = ! gComp;
wam.gravityCompensate(gComp);
break;
case 'q':
case 'x':
printf("Quitting.\n");
going = false;
break;
default:
printf("Unrecognized option.\n");
break;
}
}
wam.idle();
pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
return 0;
}