/**
* homing()
*
* set trajectory behavior for each joint during the homing process.
*/
void homing(struct DOF* _joint)
{
const float f_period[MAX_MECH*MAX_DOF_PER_MECH] = {1, 1, 1, 9999999, 1, 1, 1, 1,
1, 1, 1, 9999999, 1, 1, 1, 1};
const float f_magnitude[MAX_MECH*MAX_DOF_PER_MECH] = {-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD,
-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, -40 DEG2RAD, -40 DEG2RAD};
switch (_joint->state)
{
case jstate_wait:
break;
case jstate_not_ready:
// Initialize velocity trajectory
//log_msg("Starting homing on joint %d", _joint->type);
_joint->state = jstate_pos_unknown;
start_trajectory_mag(_joint, f_magnitude[_joint->type], f_period[_joint->type]);
break;
case jstate_pos_unknown:
// Set desired joint trajectory
update_linear_sinusoid_position_trajectory(_joint);
break;
case jstate_hard_stop:
// Wait for all joints. No trajectory here.
break;
case jstate_homing1:
start_trajectory( _joint , DOF_types[_joint->type].home_position, 2.5 );
_joint->state = jstate_homing2;
case jstate_homing2:
// Move to start position
// Update position trajectory
if ( !update_position_trajectory(_joint) )
{
_joint->state = jstate_ready;
log_msg("Joint %s ready", jointIndexAndArmName(_joint->type).c_str());
}
break;
default:
// not doing joint homing.
break;
} // switch
return;
}
/**
* homing()
*
* \param _joint The joint being controlled.
*
* \brief Set trajectory behavior for each joint during the homing process.
*
* \todo Explain why sinusoid is used for homing???
*
* \todo Homing limits should be Amps not DAC units
*
* \todo Change square vs. diamond to a config-file based runtime system instead of #ifdef
*
* \ingroup Control
*/
void homing(struct DOF* _joint)
{
// duration for homing of each joint
const float f_period[MAX_MECH*MAX_DOF_PER_MECH] = {1, 1, 1, 9999999, 1, 1, 1, 1,
1, 1, 1, 9999999, 1, 1, 1, 1};
// degrees for homing of each joint
#ifdef RAVEN_II_SQUARE
//roll is backwards because of the 'click' in the mechanism
const float f_magnitude[MAX_MECH*MAX_DOF_PER_MECH] = {-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, -80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD,
-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, -80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD};
#else
#ifdef DV_ADAPTER
const float f_magnitude[MAX_MECH*MAX_DOF_PER_MECH] = {-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD,
-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD};
#else //default
const float f_magnitude[MAX_MECH*MAX_DOF_PER_MECH] = {-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD,
-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD};
#endif
#endif
switch (_joint->state)
{
case jstate_wait:
break;
case jstate_not_ready:
// Initialize velocity trajectory
//log_msg("Starting homing on joint %d", _joint->type);
_joint->state = jstate_pos_unknown;
start_trajectory_mag(_joint, f_magnitude[_joint->type], f_period[_joint->type]);
break;
case jstate_pos_unknown:
// Set desired joint trajectory
update_linear_sinusoid_position_trajectory(_joint);
break;
case jstate_hard_stop:
// Wait for all joints. No trajectory here.
break;
case jstate_homing1:
start_trajectory( _joint , DOF_types[_joint->type].home_position, 2.5 );
_joint->state = jstate_homing2;
case jstate_homing2:
// Move to start position
// Update position trajectory
if ( !update_position_trajectory(_joint) )
{
_joint->state = jstate_ready;
log_msg("Joint %d ready", _joint->type);
}
break;
default:
// not doing joint homing.
break;
} // switch
return;
}
/**
* \fn void homing(struct DOF* _joint, tool a_tool)
*
* \brief Set trajectory behavior for each tool joint during the homing process.
*
* \param _joint The joint being controlled.
* \param a_tool The tool being controlled.
*
* \ingroup Control
*
* \return void
*/
void homing(struct DOF* _joint, tool a_tool)
{
// duration for homing of each joint
const float f_period[MAX_MECH*MAX_DOF_PER_MECH] = {1, 1, 1, 9999999, 1, 1, 1, 1,
1, 1, 1, 9999999, 1, 1, 1, 1};
// // degrees for homing of each joint
//#ifdef RAVEN_II_SQUARE
// //roll is backwards because of the 'click' in the mechanism
// const float f_magnitude[MAX_MECH*MAX_DOF_PER_MECH] = {-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, -80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD,
// -10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, -80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD};
//#else
//#ifdef DV_ADAPTER
// const float f_magnitude[MAX_MECH*MAX_DOF_PER_MECH] = {-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD,
// -10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD};
//#else //default
// const float f_magnitude[MAX_MECH*MAX_DOF_PER_MECH] = {-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD,
// -10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD};
//#endif
//#endif
//check if scissors
int scissor = ((a_tool.t_end == mopocu_scissor) || (a_tool.t_end == potts_scissor))? 1 : 0;
float f_magnitude[MAX_MECH*MAX_DOF_PER_MECH] = {-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD,
-10 DEG2RAD, 10 DEG2RAD, 0.02, 9999999, 80 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD, 40 DEG2RAD};
if(a_tool.t_style == square_raven){
if(a_tool.mech_type == GOLD_ARM) f_magnitude[TOOL_ROT_GOLD] = -80 DEG2RAD;
else if(a_tool.mech_type == GREEN_ARM) f_magnitude[TOOL_ROT_GREEN] = -80 DEG2RAD;
}
if (scissor){
if(a_tool.mech_type == GOLD_ARM) f_magnitude[GRASP2_GOLD] = -40 DEG2RAD;
else if(a_tool.mech_type == GREEN_ARM) f_magnitude[GRASP2_GREEN] = -40 DEG2RAD;
}
switch (_joint->state)
{
case jstate_wait:
break;
case jstate_not_ready:
// Initialize velocity trajectory
//log_msg("Starting homing on joint %d", _joint->type);
_joint->state = jstate_pos_unknown;
start_trajectory_mag(_joint, f_magnitude[_joint->type], f_period[_joint->type]);
break;
case jstate_pos_unknown:
// Set desired joint trajectory
update_linear_sinusoid_position_trajectory(_joint);
break;
case jstate_hard_stop:
// Wait for all joints. No trajectory here.
break;
case jstate_homing1:
start_trajectory( _joint , DOF_types[_joint->type].home_position, 2.5 );
_joint->state = jstate_homing2;
break;
case jstate_homing2:
// Move to start position
// Update position trajectory
if ( !update_position_trajectory(_joint) )
{
_joint->state = jstate_ready;
log_msg("Joint %d ready", _joint->type);
}
break;
default:
// not doing joint homing.
break;
} // switch
return;
}
