C++ (Cpp) Servo::convertir_Radianes_Pasos Examples

Example #1

File: specificworker.cpp Project: robocomp/muecas

void SpecificWorker::setPosition(const MotorGoalPosition& goal)
{
	
	QString name = QString::fromStdString(goal.name);
	if( mParams.contains( name ) )
	{
		Servo *servo = motorsName[name];
		int busId = name2id[name];
		
		
		float position = truncatePosition(name,goal.position);
		int pInt = 0;
		
	// pInt = servo->rads2Steps(position);
			pInt = servo->convertir_Radianes_Pasos(position,servo->params.invertedSign);
			
		qDebug()<<"setting position"<<pInt<<"of motor"<<name<<busId;
	
		Servo::TMotorData &data = motorsId[busId]->data;
		data.currentPosRads = position;
	}
	else
	{
		uFailed.what = std::string("Exception: muecasJointComp::setPosition:: Unknown motor name") + goal.name;
		throw uFailed;
	}
	qDebug()<<"done:setting position of motor"<<name;
	
}