bool DXLJointInterface::init()
{
if(!dxl_initialize(0, BAUD_NUM))
return false;
dxl_write_byte(200, 24, 1);
// sleep(1);
// dxl_ping(id());
// if(dxl_get_result() != COMM_RXSUCCESS)
// {
// ROS_ERROR("Could not find dynamixel with ID %d", id());
// return false;
// }
dxl_write_word(id(), REG_TORQUE_LIMIT, 1023);
dxl_write_word(id(), REG_CW_ANGLE_LIMIT, 0);
setControlType(CT_POSITION);
dxl_write_word(id(), REG_TORQUE_ENABLE, 1);
dxl_write_byte(id(), REG_P_GAIN, 2);
dxl_write_byte(id(), REG_I_GAIN, 0);
dxl_write_byte(id(), REG_D_GAIN, 0);
return true;
}
// Process incoming controller key event.
void synthv1widget_control::setControlKey ( const synthv1_controls::Key& key )
{
setControlType(key.type());
setControlParam(key.param);
m_ui.ControlChannelSpinBox->setValue(key.channel());
QPushButton *pResetButton
= m_ui.DialogButtonBox->button(QDialogButtonBox::Reset);
if (pResetButton && m_pControls)
pResetButton->setEnabled(m_pControls->find_control(key) >= 0);
}
void initialize()
{
char input[30];
isGroupInitialized = false;
std::cout << "Enter the |type| of models you want to control: 'door' or 'elevator'" << std::endl;
readLineInput(input);
while (!setControlType(input))
{
std::cout << "Invalid type. Options: 'door' or 'elevator'" << std::endl;
readLineInput(input);
}
setupCallTemplates();
}
HeatExchangerFluidToFluid::HeatExchangerFluidToFluid(const Model& model)
: WaterToWaterComponent(HeatExchangerFluidToFluid::iddObjectType(),model)
{
OS_ASSERT(getImpl<detail::HeatExchangerFluidToFluid_Impl>());
autosizeLoopDemandSideDesignFlowRate();
autosizeLoopSupplySideDesignFlowRate();
setHeatExchangeModelType("Ideal");
autosizeHeatExchangerUFactorTimesAreaValue();
setControlType("UncontrolledOn");
setMinimumTemperatureDifferencetoActivateHeatExchanger(0.01);
setHeatTransferMeteringEndUseType("LoopToLoop");
setComponentOverrideCoolingControlTemperatureMode("Loop");
setSizingFactor(1.0);
setOperationMinimumTemperatureLimit(0.0);
setOperationMaximumTemperatureLimit(100.0);
}
void start()
{
initialize();
char input[30];
while (rosNode.ok())
{
readLineInput(input);
// check if the type was toggled (between 'door' & 'elevator')
if (setControlType(input))
{
continue;
}
callServices(input);
}
}
Drive::Drive()
:Component::Component(), m_leftMotor(1, false), m_rightMotor(2, true), m_robotDrive(new RobotDrive(&m_leftMotor, &m_rightMotor)), leftJoystick(1), rightJoystick(2)
{
setControlType(kArcade);
}