C++ (Cpp) getRefSpeed Exemples

Exemple #1

Fichier : dynamixelAx12.cpp Projet : jizecn/my_humanoid_robot

bool DynamixelAX12::positionMove(int j, double ref)
{
    double speed;
    int blankReturnSize = -1;
    unsigned char blankReturn[] = {0, 0, 0};
    getRefSpeed(j, &speed);
    const int instl = 5 + 1;
    //    unsigned char inst[instl] = {INST_WRITE, CT_GOAL_POSITION, (unsigned char) (normalisePosition(ref)&0xFF), (unsigned char) ((normalisePosition(ref) >> 8) & 0xFF), (unsigned char) (normaliseSpeed(speed)&0xFF), (unsigned char) ((normaliseSpeed(speed) >> 8)&0xFF00)};

    unsigned char inst[instl] = {INST_WRITE, CT_GOAL_POSITION, (unsigned char) (normalisePosition(ref)&0xFF), (unsigned char) ((normalisePosition(ref) >> 8) & 0xFF), (unsigned char) (normaliseSpeed(speed)&0xFF), (unsigned char) ((normaliseSpeed(speed) >> 8)&0xFF)};

Exemple #2

Fichier : IPositionImpl.cpp Projet : herjunodimas/teo-main

bool teo::FakeControlboard::getRefSpeeds(double *spds) {
    bool ok = true;
    for(unsigned int i=0;i<axes;i++)
        ok &= getRefSpeed(i,&spds[i]);
    return ok;
}