bool goHome()
{
printMessage(0,"Going home...\n");
yarp::sig::Vector poss(7,0.0);
yarp::sig::Vector vels(7,0.0);
printMessage(1,"Configuring arm...\n");
poss[0]=-30.0; vels[0]=10.0; poss[1]=30.0; vels[1]=10.0;
poss[2]= 00.0; vels[2]=10.0; poss[3]=45.0; vels[3]=10.0;
poss[4]= 00.0; vels[4]=10.0; poss[5]=00.0; vels[5]=10.0;
poss[6]= 00.0; vels[6]=10.0;
for (int i=0; i<7; i++)
{
iposs->setRefSpeed(i,vels[i]);
iposs->positionMove(i,poss[i]);
}
printMessage(1,"Configuring hand...\n");
poss.resize(9,0.0);
vels.resize(9,0.0);
poss[0]=40.0; vels[0]=60.0; poss[1]=10.0; vels[1]=60.0;
poss[2]=60.0; vels[2]=60.0; poss[3]=70.0; vels[3]=60.0;
poss[4]=00.0; vels[4]=60.0; poss[5]=00.0; vels[5]=60.0;
poss[6]=70.0; vels[6]=60.0; poss[7]=100.0; vels[7]=60.0;
poss[8]=240.0; vels[8]=120.0;
for (int i=7; i<nEncs; i++)
{
iposs->setRefAcceleration(i,1e9);
iposs->setRefSpeed(i,vels[i-7]);
iposs->positionMove(i,poss[i-7]);
}
return true;
}
bool updateModule()
{
if (calibrate)
{
Property options;
options.put("finger",fingerName.c_str());
model->calibrate(options);
calibrate=false;
ipos->setRefAcceleration(joint,1e9);
if ((fingerName=="ring")||(fingerName=="little"))
ipos->setRefSpeed(joint,60.0);
else
ipos->setRefSpeed(joint,30.0);
ipos->positionMove(joint,*val);
}
else
{
if (Node *finger=model->getNode(fingerName))
{
Value data; finger->getSensorsData(data);
Value out; finger->getOutput(out);
fprintf(stdout,"%s sensors data = %s; output = %s\n",
finger->getName().c_str(),data.toString().c_str(),out.toString().c_str());
}
double fb; ienc->getEncoder(joint,&fb);
if (fabs(*val-fb)<5.0)
{
val==&min?val=&max:val=&min;
ipos->positionMove(joint,*val);
}
}
return true;
}
int main(int argc, char *argv[])
{
// just list the devices if no argument given
if (argc <= 2) {
printf("You can call %s like this:\n", argv[0]);
printf(" %s --robot ROBOTNAME --OPTION VALUE ...\n", argv[0]);
printf("For example:\n");
printf(" %s --robot icub --local /talkto/james --remote /controlboard/rpc\n", argv[0]);
printf("Here are devices listed for your system:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
// get command line options
Property options;
options.fromCommand(argc, argv);
if (!options.check("robot") || !options.check("part")) {
printf("Missing either --robot or --part options\n");
return 0;
}
Network::init();
Time::turboBoost();
std::string name;
Value& v = options.find("robot");
Value& part = options.find("part");
Value *val;
if (!options.check("device", val)) {
options.put("device", "remote_controlboard");
}
if (!options.check("local", val)) {
name="/"+std::string(v.asString().c_str())+"/"+std::string(part.asString().c_str())+"/simpleclient";
//sprintf(&name[0], "/%s/%s/client", v.asString().c_str(), part.asString().c_str());
options.put("local", name.c_str());
}
if (!options.check("remote", val)) {
name="/"+std::string(v.asString().c_str())+"/"+std::string(part.asString().c_str());
//sprintf(&name[0], "/%s/%s", v.asString().c_str(), part.asString().c_str());
options.put("remote", name.c_str());
}
fprintf(stderr, "%s", options.toString().c_str());
// create a device
PolyDriver dd(options);
if (!dd.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
Network::fini();
return 1;
}
IPositionControl *pos;
IPositionDirect *posDir;
IVelocityControl *vel;
IEncoders *enc;
IPidControl *pid;
IAmplifierControl *amp;
IControlLimits *lim;
// IControlMode *icm;
IControlMode2 *iMode2;
ITorqueControl *itorque;
IOpenLoopControl *iopenloop;
IImpedanceControl *iimp;
IInteractionMode *iInteract;
bool ok;
ok = dd.view(pos);
ok &= dd.view(vel);
ok &= dd.view(enc);
ok &= dd.view(pid);
ok &= dd.view(amp);
ok &= dd.view(lim);
// ok &= dd.view(icm);
ok &= dd.view(itorque);
ok &= dd.view(iopenloop);
ok &= dd.view(iimp);
ok &= dd.view(posDir);
ok &= dd.view(iMode2);
ok &= dd.view(iInteract);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 1;
}
pos->getAxes(&jnts);
printf("Working with %d axes\n", jnts);
double *tmp = new double[jnts];
printf("Device active...\n");
while (dd.isValid()) {
std::string s;
s.resize(1024);
printf("-> ");
char c = 0;
int i = 0;
while (c != '\n') {
c = (char)fgetc(stdin);
s[i++] = c;
}
s[i-1] = s[i] = 0;
Bottle p;
Bottle response;
bool ok=false;
bool rec=false;
p.fromString(s.c_str());
printf("Bottle: %s\n", p.toString().c_str());
switch(p.get(0).asVocab()) {
case VOCAB_HELP:
printf("\n\n");
printf("Available commands:\n");
printf("-------------------\n\n");
printf("IOpenLoop:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_IOPENLOOP).c_str());
printf(" [set] [%s] <int> <float>\n",
Vocab::decode(VOCAB_OUTPUT).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_OUTPUT).c_str());
printf(" [get] [%s]\n\n",
Vocab::decode(VOCAB_OUTPUTS).c_str());
printf("IControlMode:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_ICONTROLMODE).c_str());
printf(" [set] [%s]|[%s]|[%s]|[%s]|[%s]|[%s]|[%s]|[%s][%s]|[%s]\n",
Vocab::decode(VOCAB_CM_POSITION).c_str(),
Vocab::decode(VOCAB_CM_POSITION_DIRECT).c_str(),
Vocab::decode(VOCAB_CM_VELOCITY).c_str(),
Vocab::decode(VOCAB_CM_MIXED).c_str(),
Vocab::decode(VOCAB_CM_TORQUE).c_str(),
Vocab::decode(VOCAB_CM_OPENLOOP).c_str(),
Vocab::decode(VOCAB_CM_IDLE).c_str(),
Vocab::decode(VOCAB_CM_FORCE_IDLE).c_str(),
Vocab::decode(VOCAB_CM_IMPEDANCE_POS).c_str(),
Vocab::decode(VOCAB_CM_IMPEDANCE_VEL).c_str());
printf(" [get] [%s] <int>\n\n",
Vocab::decode(VOCAB_CM_CONTROL_MODE).c_str());
printf("ITorqueControl:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_TORQUE).c_str());
printf(" [get] [%s] <int> to read the measured torque for a single axis\n", Vocab::decode(VOCAB_TRQ).c_str());
printf(" [get] [%s] to read the measured torque for all axes\n", Vocab::decode(VOCAB_TRQS).c_str());
printf(" [set] [%s] <int> <float> to set the reference torque for a single axis\n", Vocab::decode(VOCAB_REF).c_str());
printf(" [set] [%s] <float list> to set the reference torque for all axes\n", Vocab::decode(VOCAB_REFS).c_str());
printf(" [get] [%s] <int> to read the reference torque for a single axis\n", Vocab::decode(VOCAB_REF).c_str());
printf(" [get] [%s] to read the reference torque for all axes\n\n", Vocab::decode(VOCAB_REFS).c_str());
printf("IImpedanceControl:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_IMPEDANCE).c_str());
printf(" [set] [%s] <int> <float> <float> \n",
Vocab::decode(VOCAB_IMP_PARAM).c_str());
printf(" [set] [%s] <int> <float>\n\n",
Vocab::decode(VOCAB_IMP_OFFSET).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_IMP_PARAM).c_str());
printf(" [get] [%s] <int>\n\n",
Vocab::decode(VOCAB_IMP_OFFSET).c_str());
printf("IInteractionMode:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_INTERFACE_INTERACTION_MODE).c_str());
printf(" [set] [%s]|[%s] <int>\n",
Vocab::decode(VOCAB_IM_STIFF).c_str(),
Vocab::decode(VOCAB_IM_COMPLIANT).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_INTERACTION_MODE).c_str());
printf(" [get] [%s] \n\n",
Vocab::decode(VOCAB_INTERACTION_MODES).c_str());
printf("Standard Interfaces:\n");
printf("type [get] and one of the following:\n");
printf(" [%s] to read the number of controlled axes\n", Vocab::decode(VOCAB_AXES).c_str());
printf(" [%s] to read the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf(" [%s] to read the PID values for all axes\n", Vocab::decode(VOCAB_PIDS).c_str());
printf(" [%s] <int> to read the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf(" [%s] <int> to read the limit values for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf(" [%s] to read the PID error for all axes\n", Vocab::decode(VOCAB_ERRS).c_str());
printf(" [%s] to read the PID output for all axes\n", Vocab::decode(VOCAB_OUTPUTS).c_str());
printf(" [%s] to read the reference position for all axes\n", Vocab::decode(VOCAB_REFERENCES).c_str());
printf(" [%s] <int> to read the reference position for a single axis\n", Vocab::decode(VOCAB_REFERENCE).c_str());
printf(" [%s] to read the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf(" [%s] <int> to read the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf(" [%s] to read the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf(" [%s] <int> to read the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf(" [%s] to read the current consumption for all axes\n", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
printf("\n");
printf("type [set] and one of the following:\n");
printf(" [%s] <int> <double> to move a single axis\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str());
printf(" [%s] <int> <double> to accelerate a single axis to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str());
printf(" [%s] <int> <double> to set the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf(" [%s] <int> <double> to set the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf(" [%s] <list> to move multiple axes\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
printf(" [%s] <list> to accelerate multiple axes to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
printf(" [%s] <list> to set the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf(" [%s] <list> to set the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf(" [%s] <int> to stop a single axis\n", Vocab::decode(VOCAB_STOP).c_str());
printf(" [%s] <int> to stop all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
printf(" [%s] <int> <list> to set the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf(" [%s] <int> <list> to set the limits for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf(" [%s] <int> to disable the PID control for a single axis\n", Vocab::decode(VOCAB_DISABLE).c_str());
printf(" [%s] <int> to enable the PID control for a single axis\n", Vocab::decode(VOCAB_ENABLE).c_str());
printf(" [%s] <int> <double> to set the encoder value for a single axis\n", Vocab::decode(VOCAB_ENCODER).c_str());
printf(" [%s] <list> to set the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf("\n");
printf("NOTES: - A list is a sequence of numbers in parenthesis, e.g. (10 2 1 10)\n");
printf(" - Pids are expressed as a list of 7 numbers, type get pid <int> to see an example\n");
printf("\n");
break;
case VOCAB_QUIT:
goto ApplicationCleanQuit;
break;
case VOCAB_ICONTROLMODE:
{
handleControlModeMsg(iMode2, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_IMPEDANCE:
{
handleImpedanceMsg(iimp, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_TORQUE:
{
handleTorqueMsg(itorque, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_INTERFACE_INTERACTION_MODE:
{
handleInteractionModeMsg(iInteract, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_GET:
switch(p.get(1).asVocab()) {
case VOCAB_AXES: {
int nj = 0;
enc->getAxes(&nj);
printf ("%s: %d\n", Vocab::decode(VOCAB_AXES).c_str(), nj);
}
break;
case VOCAB_ENCODERS: {
enc->getEncoders(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ENCODERS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
pid->getPid(j, &pd);
printf("%s: ", Vocab::decode(VOCAB_PID).c_str());
printf("kp %.2f ", pd.kp);
printf("kd %.2f ", pd.kd);
printf("ki %.2f ", pd.ki);
printf("maxi %.2f ", pd.max_int);
printf("maxo %.2f ", pd.max_output);
printf("off %.2f ", pd.offset);
printf("scale %.2f ", pd.scale);
printf("\n");
}
break;
case VOCAB_PIDS: {
Pid *p = new Pid[jnts];
ok = pid->getPids(p);
Bottle& b = response.addList();
int i;
for (i = 0; i < jnts; i++)
{
Bottle& c = b.addList();
c.addDouble(p[i].kp);
c.addDouble(p[i].kd);
c.addDouble(p[i].ki);
c.addDouble(p[i].max_int);
c.addDouble(p[i].max_output);
c.addDouble(p[i].offset);
c.addDouble(p[i].scale);
}
printf("%s\n", b.toString().c_str());
delete[] p;
}
break;
case VOCAB_LIMITS: {
double min, max;
int j = p.get(2).asInt();
lim->getLimits(j, &min, &max);
printf("%s: ", Vocab::decode(VOCAB_LIMITS).c_str());
printf("limits: (%.2f %.2f)\n", min, max);
}
break;
case VOCAB_ERRS: {
pid->getErrors(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ERRS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUTS: {
iopenloop->getOutputs(tmp);
printf ("%s: (", Vocab::decode(VOCAB_OUTPUTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUT: {
int j = p.get(2).asInt();
double v;
iopenloop->getOutput(j, &v);
printf("%s: ", Vocab::decode(VOCAB_OUTPUT).c_str());
printf("%.2f ", v);
printf("\n");
}
break;
case VOCAB_REFERENCE: {
double ref_pos;
int j = p.get(2).asInt();
pid->getReference(j,&ref_pos);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCE).c_str());
printf ("%.2f ", ref_pos);
printf (")\n");
}
break;
case VOCAB_REFERENCES: {
pid->getReferences(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCES).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEEDS: {
pos->getRefSpeeds(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEED: {
double ref_speed;
int j = p.get(2).asInt();
pos->getRefSpeed(j,&ref_speed);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf ("%.2f ", ref_speed);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATION: {
double ref_acc;
int j = p.get(2).asInt();
pos->getRefAcceleration(j,&ref_acc);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf ("%.2f ", ref_acc);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATIONS: {
pos->getRefAccelerations(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_AMP_CURRENTS: {
amp->getCurrents(tmp);
printf ("%s: (", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
}
break;
case VOCAB_SET:
switch(p.get(1).asVocab()) {
case VOCAB_POSITION_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: moving %d to %.2f\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str(), j, ref);
pos->positionMove(j, ref);
}
break;
case VOCAB_VELOCITY_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: accelerating %d to %.2f\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str(), j, ref);
vel->velocityMove(j, ref);
}
break;
case VOCAB_REF_SPEED: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting speed for %d to %.2f\n", Vocab::decode(VOCAB_REF_SPEED).c_str(), j, ref);
pos->setRefSpeed(j, ref);
}
break;
case VOCAB_REF_ACCELERATION: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting acceleration for %d to %.2f\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str(), j, ref);
pos->setRefAcceleration(j, ref);
}
break;
case VOCAB_POSITION_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
pos->positionMove(tmp);
}
break;
case VOCAB_VELOCITY_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
vel->velocityMove(tmp);
}
break;
case VOCAB_REF_SPEEDS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting speed for all joints\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
pos->setRefSpeeds(tmp);
}
break;
case VOCAB_REF_ACCELERATIONS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting acceleration for all joints\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
pos->setRefAccelerations(tmp);
}
break;
case VOCAB_STOP: {
int j = p.get(2).asInt();
printf("%s: stopping axis %d\n", Vocab::decode(VOCAB_STOP).c_str(), j);
pos->stop(j);
}
break;
case VOCAB_STOPS: {
printf("%s: stopping all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
pos->stop();
}
break;
case VOCAB_ENCODER: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting the encoder value for %d to %.2f\n", Vocab::decode(VOCAB_ENCODER).c_str(), j, ref);
enc->setEncoder(j, ref);
}
break;
case VOCAB_ENCODERS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting the encoder value for all joints\n", Vocab::decode(VOCAB_ENCODERS).c_str());
enc->setEncoders(tmp);
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
Bottle *l = p.get(3).asList();
if (l==0)
{
printf("Check you specify a 7 elements list, e.g. set pid 0 (2000 20 1 300 300 0 0)\n");
}
else
{
int elems=l->size();
if (elems>=3)
{
pd.kp = l->get(0).asDouble();
pd.kd = l->get(1).asDouble();
pd.ki = l->get(2).asDouble();
if (elems>=7)
{
pd.max_int = l->get(3).asDouble();
pd.max_output = l->get(4).asDouble();
pd.offset = l->get(5).asDouble();
pd.scale = l->get(6).asDouble();
}
printf("%s: setting PID values for axis %d\n", Vocab::decode(VOCAB_PID).c_str(), j);
pid->setPid(j, pd);
}
else
{
printf("Error, check you specify at least 7 elements, e.g. set pid 0 (2000 20 1 300 300 0 0)\n");
}
}
}
break;
case VOCAB_DISABLE: {
int j = p.get(2).asInt();
printf("%s: disabling control for axis %d\n", Vocab::decode(VOCAB_DISABLE).c_str(), j);
pid->disablePid(j);
amp->disableAmp(j);
}
break;
case VOCAB_ENABLE: {
int j = p.get(2).asInt();
printf("%s: enabling control for axis %d\n", Vocab::decode(VOCAB_ENABLE).c_str(), j);
amp->enableAmp(j);
pid->enablePid(j);
}
break;
case VOCAB_LIMITS: {
int j = p.get(2).asInt();
printf("%s: setting limits for axis %d\n", Vocab::decode(VOCAB_LIMITS).c_str(), j);
Bottle *l = p.get(3).asList();
lim->setLimits(j, l->get(0).asDouble(), l->get(1).asDouble());
}
break;
case VOCAB_OUTPUT: {
int j=p.get(2).asInt();
double v=p.get(3).asDouble();
iopenloop->setRefOutput(j,v);
printf("%s: setting output for axis %d to %f\n", Vocab::decode(VOCAB_OUTPUT).c_str(), j, v);
}
break;
}
break;
} /* switch get(0) */
} /* while () */
ApplicationCleanQuit:
dd.close();
delete[] tmp;
Network::fini();
return 0;
}
bool SpringyFingersModel::calibrate(const Property &options)
{
if (configured)
{
IControlMode2 *imod; driver.view(imod);
IControlLimits *ilim; driver.view(ilim);
IEncoders *ienc; driver.view(ienc);
IPositionControl *ipos; driver.view(ipos);
int nAxes; ienc->getAxes(&nAxes);
Vector qmin(nAxes),qmax(nAxes),vel(nAxes),acc(nAxes);
printMessage(1,"steering the hand to a suitable starting configuration\n");
for (int j=7; j<nAxes; j++)
{
imod->setControlMode(j,VOCAB_CM_POSITION);
ilim->getLimits(j,&qmin[j],&qmax[j]);
ipos->getRefAcceleration(j,&acc[j]);
ipos->getRefSpeed(j,&vel[j]);
ipos->setRefAcceleration(j,1e9);
ipos->setRefSpeed(j,60.0);
ipos->positionMove(j,(j==8)?qmax[j]:qmin[j]); // thumb in opposition
}
printMessage(1,"proceeding with the calibration\n");
Property &opt=const_cast<Property&>(options);
string tag=opt.check("finger",Value("all")).asString().c_str();
if (tag=="thumb")
{
calibrateFinger(fingers[0],10,qmin[10],qmax[10]);
}
else if (tag=="index")
{
calibrateFinger(fingers[1],12,qmin[12],qmax[12]);
}
else if (tag=="middle")
{
calibrateFinger(fingers[2],14,qmin[14],qmax[14]);
}
else if (tag=="ring")
{
calibrateFinger(fingers[3],15,qmin[15],qmax[15]);
}
else if (tag=="little")
{
calibrateFinger(fingers[4],15,qmin[15],qmax[15]);
}
else if ((tag=="all") || (tag=="all_serial"))
{
calibrateFinger(fingers[0],10,qmin[10],qmax[10]);
calibrateFinger(fingers[1],12,qmin[12],qmax[12]);
calibrateFinger(fingers[2],14,qmin[14],qmax[14]);
calibrateFinger(fingers[3],15,qmin[15],qmax[15]);
calibrateFinger(fingers[4],15,qmin[15],qmax[15]);
}
else if (tag=="all_parallel")
{
CalibThread thr[5];
thr[0].setInfo(this,fingers[0],10,qmin[10],qmax[10]);
thr[1].setInfo(this,fingers[1],12,qmin[12],qmax[12]);
thr[2].setInfo(this,fingers[2],14,qmin[14],qmax[14]);
thr[3].setInfo(this,fingers[3],15,qmin[15],qmax[15]);
thr[4].setInfo(this,fingers[4],15,qmin[15],qmax[15]);
thr[0].start(); thr[1].start(); thr[2].start();
thr[3].start(); thr[4].start();
bool done=false;
while (!done)
{
done=true;
for (int i=0; i<5; i++)
{
done&=thr[i].isDone();
if (thr[i].isDone() && thr[i].isRunning())
thr[i].stop();
}
Time::delay(0.1);
}
}
else
{
printMessage(1,"unknown finger request %s\n",tag.c_str());
return false;
}
for (int j=7; j<nAxes; j++)
{
ipos->setRefAcceleration(j,acc[j]);
ipos->setRefSpeed(j,vel[j]);
}
return true;
}
else
return false;
}
int main(int argc, char *argv[])
{
// just list the devices if no argument given
if (argc <= 2) {
printf("You can call %s like this:\n", argv[0]);
printf(" %s --robot ROBOTNAME --OPTION VALUE ...\n", argv[0]);
printf("For example:\n");
printf(" %s --robot icub --part any --remote /controlboard\n", argv[0]);
printf("Here are devices listed for your system:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
// get command line options
Property options;
options.fromCommand(argc, argv);
if (!options.check("robot") || !options.check("part")) {
printf("Missing either --robot or --part options\n");
return 0;
}
Network yarp;
Time::turboBoost();
char name[1024];
Value& v = options.find("robot");
Value& part = options.find("part");
Value *val;
if (!options.check("device", val)) {
options.put("device", "remote_controlboard");
}
if (!options.check("local", val)) {
sprintf(name, "/%s/%s/client", v.asString().c_str(), part.asString().c_str());
options.put("local", name);
}
if (!options.check("remote", val)) {
sprintf(name, "/%s/%s", v.asString().c_str(), part.asString().c_str());
options.put("remote", name);
}
fprintf(stderr, "%s", options.toString().c_str());
// create a device
PolyDriver dd(options);
if (!dd.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 1;
}
IPositionControl *pos;
IVelocityControl *vel;
IEncoders *enc;
IPidControl *pid;
IAmplifierControl *amp;
IControlLimits *lim;
bool ok;
ok = dd.view(pos);
ok &= dd.view(vel);
ok &= dd.view(enc);
ok &= dd.view(pid);
ok &= dd.view(amp);
ok &= dd.view(lim);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 1;
}
int jnts = 0;
pos->getAxes(&jnts);
printf("Working with %d axes\n", jnts);
double *tmp = new double[jnts];
assert (tmp != NULL);
printf("Device active...\n");
while (dd.isValid()) {
char s[1024];
printf("-> ");
char c = 0;
int i = 0;
while (c != '\n') {
c = (char)fgetc(stdin);
s[i++] = c;
}
s[i-1] = s[i] = 0;
Bottle p;
p.fromString(s);
printf("Bottle: %s\n", p.toString().c_str());
switch(p.get(0).asVocab()) {
case VOCAB_HELP:
printf("\n\n");
printf("Available commands:\n\n");
printf("type [get] and one of the following:\n");
printf("[%s] to read the number of controlled axes\n", Vocab::decode(VOCAB_AXES).c_str());
printf("[%s] to read the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf("[%s] <int> to read the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf("[%s] <int> to read the limit values for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf("[%s] to read the PID error for all axes\n", Vocab::decode(VOCAB_ERRS).c_str());
printf("[%s] to read the PID output for all axes\n", Vocab::decode(VOCAB_OUTPUTS).c_str());
printf("[%s] to read the reference position for all axes\n", Vocab::decode(VOCAB_REFERENCES).c_str());
printf("[%s] to read the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf("[%s] to read the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf("[%s] to read the current consumption for all axes\n", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
printf("\n");
printf("type [set] and one of the following:\n");
printf("[%s] <int> <double> to move a single axis\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str());
printf("[%s] <int> <double> to accelerate a single axis to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str());
printf("[%s] <int> <double> to set the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf("[%s] <int> <double> to set the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf("[%s] <list> to move multiple axes\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
printf("[%s] <list> to accelerate multiple axes to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
printf("[%s] <list> to set the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf("[%s] <list> to set the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf("[%s] <int> to stop a single axis\n", Vocab::decode(VOCAB_STOP).c_str());
printf("[%s] <int> to stop all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
printf("[%s] <int> <list> to set the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf("[%s] <int> <list> to set the limits for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf("[%s] <int> to disable the PID control for a single axis\n", Vocab::decode(VOCAB_DISABLE).c_str());
printf("[%s] <int> to enable the PID control for a single axis\n", Vocab::decode(VOCAB_ENABLE).c_str());
printf("[%s] <int> <double> to set the encoder value for a single axis\n", Vocab::decode(VOCAB_ENCODER).c_str());
printf("[%s] <list> to set the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf("\n");
break;
case VOCAB_QUIT:
goto ApplicationCleanQuit;
break;
case VOCAB_GET:
switch(p.get(1).asVocab()) {
case VOCAB_AXES: {
int nj = 0;
enc->getAxes(&nj);
printf ("%s: %d\n", Vocab::decode(VOCAB_AXES).c_str(), nj);
}
break;
case VOCAB_ENCODERS: {
enc->getEncoders(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ENCODERS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
pid->getPid(j, &pd);
printf("%s: ", Vocab::decode(VOCAB_PID).c_str());
printf("kp %.2f ", pd.kp);
printf("kd %.2f ", pd.kd);
printf("ki %.2f ", pd.ki);
printf("maxi %.2f ", pd.max_int);
printf("maxo %.2f ", pd.max_output);
printf("off %.2f ", pd.offset);
printf("scale %.2f ", pd.scale);
printf("\n");
}
break;
case VOCAB_LIMITS: {
double min, max;
int j = p.get(2).asInt();
lim->getLimits(j, &min, &max);
printf("%s: ", Vocab::decode(VOCAB_LIMITS).c_str());
printf("limits: (%.2f %.2f)\n", min, max);
}
break;
case VOCAB_ERRS: {
pid->getErrorLimits(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ERRS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUTS: {
pid->getErrors(tmp);
printf ("%s: (", Vocab::decode(VOCAB_OUTPUTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REFERENCES: {
pid->getReferences(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCES).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEEDS: {
pos->getRefSpeeds(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATIONS: {
pos->getRefAccelerations(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_AMP_CURRENTS: {
amp->getCurrents(tmp);
printf ("%s: (", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
}
break;
case VOCAB_SET:
switch(p.get(1).asVocab()) {
case VOCAB_POSITION_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: moving %d to %.2f\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str(), j, ref);
pos->positionMove(j, ref);
}
break;
case VOCAB_VELOCITY_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: accelerating %d to %.2f\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str(), j, ref);
vel->velocityMove(j, ref);
}
break;
case VOCAB_REF_SPEED: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting speed for %d to %.2f\n", Vocab::decode(VOCAB_REF_SPEED).c_str(), j, ref);
pos->setRefSpeed(j, ref);
}
break;
case VOCAB_REF_ACCELERATION: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting acceleration for %d to %.2f\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str(), j, ref);
pos->setRefAcceleration(j, ref);
}
break;
case VOCAB_POSITION_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
pos->positionMove(tmp);
}
break;
case VOCAB_VELOCITY_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
vel->velocityMove(tmp);
}
break;
case VOCAB_REF_SPEEDS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting speed for all joints\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
pos->setRefSpeeds(tmp);
}
break;
case VOCAB_REF_ACCELERATIONS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting acceleration for all joints\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
pos->setRefAccelerations(tmp);
}
break;
case VOCAB_STOP: {
int j = p.get(2).asInt();
printf("%s: stopping axis %d\n", Vocab::decode(VOCAB_STOP).c_str());
pos->stop(j);
}
break;
case VOCAB_STOPS: {
printf("%s: stopping all axes %d\n", Vocab::decode(VOCAB_STOPS).c_str());
pos->stop();
}
break;
case VOCAB_ENCODER: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting the encoder value for %d to %.2f\n", Vocab::decode(VOCAB_ENCODER).c_str(), j, ref);
enc->setEncoder(j, ref);
}
break;
case VOCAB_ENCODERS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting the encoder value for all joints\n", Vocab::decode(VOCAB_ENCODERS).c_str());
enc->setEncoders(tmp);
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
Bottle *l = p.get(3).asList();
pd.kp = l->get(0).asDouble();
pd.kd = l->get(1).asDouble();
pd.ki = l->get(2).asDouble();
pd.max_int = l->get(3).asDouble();
pd.max_output = l->get(4).asDouble();
pd.offset = l->get(5).asDouble();
pd.scale = l->get(6).asDouble();
printf("%s: setting PID values for axis %d\n", Vocab::decode(VOCAB_PID).c_str(), j);
pid->setPid(j, pd);
}
break;
case VOCAB_DISABLE: {
int j = p.get(2).asInt();
printf("%s: disabling control for axis %d\n", Vocab::decode(VOCAB_DISABLE).c_str(), j);
pid->disablePid(j);
amp->disableAmp(j);
}
break;
case VOCAB_ENABLE: {
int j = p.get(2).asInt();
printf("%s: enabling control for axis %d\n", Vocab::decode(VOCAB_ENABLE).c_str(), j);
amp->enableAmp(j);
pid->enablePid(j);
}
break;
case VOCAB_LIMITS: {
int j = p.get(2).asInt();
printf("%s: setting limits for axis %d\n", Vocab::decode(VOCAB_LIMITS).c_str(), j);
Bottle *l = p.get(3).asList();
lim->setLimits(j, l->get(0).asDouble(), l->get(1).asDouble());
}
break;
}
break;
} /* switch get(0) */
} /* while () */
ApplicationCleanQuit:
dd.close();
delete[] tmp;
return 0;
}