Exemple #1
0
  /** automatically do data exchange, if not otherwise specified */
  int friRemote::doPositionControl(float newJntPosition[LBR_MNJ], bool flagDataExchange)

{
	// Helper, if not properly initialized or the like...

	cmd.cmd.cmdFlags=FRI_CMD_JNTPOS;
	// Note:: If the interface is not in Command mode,
	// The commands have to be "mirrored" to get in sync
	// Note:: If the interface is not in Command mode,
	// The commands have to be "mirrored" to get in sync
	if ((getState() != FRI_STATE_CMD) || (!isPowerOn()))
	{
		for (int i = 0; i < LBR_MNJ; i++)
		{
			cmd.cmd.jntPos[i]=msr.data.cmdJntPos[i]+msr.data.cmdJntPosFriOffset[i];
		}
	}
	else
	{
		// compute new values here ...
		for (int i = 0; i < LBR_MNJ; i++)
			cmd.cmd.jntPos[i]=newJntPosition[i];
	}

	if (flagDataExchange)
	{
		return doDataExchange();
	}
	return 1;
}
Exemple #2
0
void Discharger::doIdle()
{
#ifdef ENABLE_T_INTERNAL
    if(isPowerOn()) {
        finalizeValueTintern(false);
    }
#endif
}
Exemple #3
0
void Discharger::powerOff(STATE reason)
{
    if(!isPowerOn() || reason == DISCHARGING)
        return;

    setValue(0);
    hardware::setDischargerOutput(false);
    state_ = reason;
}
Exemple #4
0
void Discharger::powerOn()
{
    if(isPowerOn())
        return;

    setValue(0);
    hardware::setDischargerOutput(true);
    state_ = DISCHARGING;
}
void SystemPowerDown()
{
	while(isPowerOn() == 0) {}
	EALLOW;
	SysCtrlRegs.WDCR = 0x0028;               // Enable watchdog module
	SysCtrlRegs.WDKEY = 0x00;                // wrong key should restart
	SysCtrlRegs.WDKEY = 0x00;
	EDIS;

	while(1){}
}
Exemple #6
0
void SMPS::powerOn()
{
    if(isPowerOn())
        return;
    //reset rising value
    value_ = 0;
    IoutSet_ = 0;
    setValue(0);
    hardware::setChargerOutput(true);
    state_ = CHARGING;
}
Exemple #7
0
void SMPS::powerOff(STATE reason)
{
    if(!isPowerOn() || reason == CHARGING)
        return;

    setValue(0);
    //reset rising value
    value_ = 0;
    IoutSet_ = 0;
    hardware::setChargerOutput(false);
    state_ = reason;
}
Exemple #8
0
void SMPS::powerOff()
{
    if(!isPowerOn())
        return;

    setValue(0);
    //reset rising value
    value_ = 0;
    IoutSet_ = 0;
    hardware::setChargerOutput(false);
    on_ = false;
}
Exemple #9
0
/** automatically do data exchange, if not otherwise specified 
 if flagDataExchange is set to false, call doDataExchange() 
 or doReceiveData()/doSendData() on your own
 IN: newJntPosition   - joint positions
	 newJntStiff      - joint stiffness (Spring factor)
	 newJntDamp       - joint damping   (Damping factor)
	 newJntAddTorque  - additional torque 
       
 Note: If any of the pointers (newJntPosition, newJntStiff, newJntDamp, newJntAddTorque) is NULL, the 
	   value is ignored -> the respective  cmd.cmd.cmdFlags field is set properly
 Note: It is possible to change cmd.cmd.cmdFlags in monitor mode only !!
 */
int friRemote::doJntImpedanceControl(const float newJntPosition[LBR_MNJ], 
										const float newJntStiff[LBR_MNJ], 
										const float newJntDamp[LBR_MNJ], 
										const float newJntAddTorque[LBR_MNJ],
										bool flagDataExchange)

{
	// Helper, if not properly initialized or the like...
	cmd.cmd.cmdFlags=0;
	if (newJntPosition)
	{
		cmd.cmd.cmdFlags|=FRI_CMD_JNTPOS;
		// Note:: If the interface is not in Command mode,
		// The commands have to be "mirrored" to get in sync
		if ((getState() != FRI_STATE_CMD) || (!isPowerOn()))
		{
			for (int i = 0; i < LBR_MNJ; i++)
			{
				cmd.cmd.jntPos[i]=msr.data.cmdJntPos[i]+msr.data.cmdJntPosFriOffset[i];
			}
		}
		else
		{
			// compute new values here ...
			for (int i = 0; i < LBR_MNJ; i++)
				cmd.cmd.jntPos[i]=newJntPosition[i];
		}
	}
	if (newJntStiff)
	{
		cmd.cmd.cmdFlags|=FRI_CMD_JNTSTIFF;
		for (int i = 0; i < LBR_MNJ; i++)
			cmd.cmd.jntStiffness[i]=newJntStiff[i];
	}
	if (newJntDamp)
	{
		cmd.cmd.cmdFlags|=FRI_CMD_JNTDAMP;
		for (int i = 0; i < LBR_MNJ; i++)
			cmd.cmd.jntDamping[i]=newJntDamp[i];
	}
	if (newJntAddTorque)
	{
		cmd.cmd.cmdFlags|=FRI_CMD_JNTTRQ;
		for (int i = 0; i < LBR_MNJ; i++)
			cmd.cmd.addJntTrq[i]=newJntAddTorque[i];
	}

	if (flagDataExchange)
	{
		return doDataExchange();
	}
	return 1;
}