Esempio n. 1
0
void BiclopsAccess::recordLimits()
{
	for(int j = 0; j < BICLOPS_NUM_JOINTS; j++)
	{
		long hlf = 0, hlr = 0, slf = 0, slr = 0;  
		PMDAxisControl *axis = _biclops->GetAxis(j);
	    axis->GetHomingLimits(hlf, hlr, slf, slr);

		limits[j][0] = axis->CountsToUnits(hlr);
		limits[j][1] = axis->CountsToUnits(hlf);
	}
}
Esempio n. 2
0
double BiclopsAccess::getJointDesiredPosition(int jnt)
{
	// Can only ask during HOMING, POSITION and PARKED. 
	if(_mode <= HOMING) return 0.0;

	PMDint32 d; 
	PMDAxisControl *axis = _biclops->GetAxis(jnt);

	axis->GetCommandedPosition(d);
	double p = axis->CountsToUnits(d);
	p = unitsToRadians(p, jnt);

	return p;
}
Esempio n. 3
0
double BiclopsAccess::getJointPosition(int jnt)
{
	// Can only ask during HOMING, POSITION and PARKED. 
	if(_mode <= HOMING) return 0.0;

	PMDint32 d; 
	PMDAxisControl *axis = _biclops->GetAxis(jnt);

	axis->GetActualPosition(d);
	
	double p = axis->CountsToUnits(d);

/*
	if (jnt == 0) {
	  std::cout<<"Inside joint position1 :"<<(int) d<< " --> " << p << " cpUnit: " << axis->GetCountsPerEncoderCycle() << std::endl;
	}
*/
	p = unitsToRadians(p, jnt);	

	return p;
}