/**
* TorqueToDAC() - Converts desired torque on each joint to desired DAC level
*
* Precondition - tau_d has been set for each joint
*
* Postcondition - current_cmd is set for each joint
* \param device0 pointer to device structure
*
*/
int TorqueToDAC(struct device *device0)
{
int i, j;
// for each arm
for (i=0; i < NUM_MECH; i++)
for (j=0; j < MAX_DOF_PER_MECH ; j++) {
if (device0->mech[i].joint[j].type == NO_CONNECTION_GOLD || device0->mech[i].joint[j].type == NO_CONNECTION_GREEN)
continue;
device0->mech[i].joint[j].current_cmd = tToDACVal( &(device0->mech[i].joint[j]) ); // Convert torque to DAC value
if ( soft_estopped )
device0->mech[i].joint[j].current_cmd = 0;
}
return 0;
}
/**
* TorqueToDAC() - Converts desired torque on each joint to desired DAC level
*
* Precondition - tau_d has been set for each joint
*
* Postcondition - current_cmd is set for each joint
* \param device0 pointer to device structure
*
*/
int TorqueToDAC(struct device *device0)
{
struct DOF *_joint = NULL;
struct mechanism* _mech = NULL;
int i=0, j=0;
// for each arm
while (loop_over_joints(device0, _mech, _joint, i,j) ) {
if (_joint->type == NO_CONNECTION_GOLD || _joint->type == NO_CONNECTION_GREEN)
continue;
_joint->current_cmd = tToDACVal( _joint ); // Convert torque to DAC value
if ( soft_estopped )
_joint->current_cmd = 0;
}
return 0;
}
