void HwModel::updateHook() {
if (RTT::NewData == port_desired_input_.read(desired_input_)) {
// std::cout << "HwModel updateHook" << desired_input_(1) << std::endl;
// pytanie czy to nie przychodzi w inkrementach
for (int servo = 0; servo < number_of_servos_; servo++) {
// PWM input do implementacji
/*
if (!current_input_[servo]) { // pwm input
motor_position_(servo) = desired_input_(servo);
} else { // current input
*/
// prad jest w miliamperach
desired_torque_(servo) = desired_input_(servo) * torque_constant_[servo];
for (int iteration = 0; iteration < iteration_per_step_; iteration++) {
effective_torque_(servo) = desired_torque_(servo)
- motor_velocity_(servo) * viscous_friction_[servo];
motor_acceleration_(servo) = effective_torque_(servo) / inertia_[servo];
motor_velocity_(servo) += motor_acceleration_(servo) / m_factor_;
motor_position_(servo) += motor_velocity_(servo) / m_factor_;
}
//}
}
port_motor_position_.write(motor_position_);
}
}
void HwModel::updateHook() {
for (int servo = 0; servo < number_of_servos_; servo++) {
port_desired_input_list_[servo]->read(desired_input_[servo]);
// prad jest w przeliczany do amperow
desired_torque_(servo) = desired_input_(servo) * torque_constant_[servo]
/ input_current_units_per_amper_[servo];
for (int iteration = 0; iteration < iteration_per_step_; iteration++) {
effective_torque_(servo) = desired_torque_(servo)
- motor_velocity_(servo) * viscous_friction_[servo];
motor_acceleration_(servo) = effective_torque_(servo) / inertia_[servo];
motor_velocity_(servo) += motor_acceleration_(servo) / m_factor_;
motor_position_(servo) += motor_velocity_(servo) / m_factor_;
}
inc_motor_position_[servo] = motor_position_[servo] * enc_res_[servo]
/ (2.0 * M_PI);
port_motor_position_list_[servo]->write(inc_motor_position_[servo]);
}
}
bool HwModel::configureHook() {
number_of_servos_ = torque_constant_.size();
if ((number_of_servos_ != inertia_.size())
|| (number_of_servos_ != viscous_friction_.size())
|| (number_of_servos_ != current_input_.size())) {
std::cout
<< std::endl
<< RED
<< "[error] hardware model "
<< getName()
<< "configuration failed: wrong properties vector length in launch file."
<< RESET << std::endl;
return false;
}
motor_position_.resize(number_of_servos_);
motor_velocity_.resize(number_of_servos_);
motor_acceleration_.resize(number_of_servos_);
desired_input_.resize(number_of_servos_);
desired_torque_.resize(number_of_servos_);
effective_torque_.resize(number_of_servos_);
port_motor_position_.setDataSample(motor_position_);
for (int i = 0; i < number_of_servos_; i++) {
motor_position_(i) = 0.0;
motor_velocity_(i) = 0.0;
motor_acceleration_(i) = 0.0;
desired_input_(i) = 0.0;
desired_torque_(i) = 0.0;
effective_torque_(i) = 0.0;
}
m_factor_ = step_per_second_ * iteration_per_step_;
return true;
}
bool HwModel::configureHook() {
number_of_servos_ = torque_constant_.size();
if ((number_of_servos_ != torque_constant_.size())
|| (number_of_servos_ != input_current_units_per_amper_.size())
|| (number_of_servos_ != inertia_.size())
|| (number_of_servos_ != viscous_friction_.size())
|| (number_of_servos_ != enc_res_.size())) {
std::cout
<< std::endl
<< RED
<< "[error] hardware model "
<< getName()
<< " configuration failed: wrong properties vector length in launch file."
<< RESET << std::endl;
return false;
}
motor_position_.resize(number_of_servos_);
motor_velocity_.resize(number_of_servos_);
motor_acceleration_.resize(number_of_servos_);
desired_input_.resize(number_of_servos_);
desired_torque_.resize(number_of_servos_);
effective_torque_.resize(number_of_servos_);
inc_motor_position_.resize(number_of_servos_);
// port_motor_position_.setDataSample(motor_position_);
port_motor_position_list_.resize(number_of_servos_);
port_desired_input_list_.resize(number_of_servos_);
desired_position_out_list_.resize(number_of_servos_);
port_motor_position_command_list_.resize(number_of_servos_);
port_motor_current_list_.resize(number_of_servos_);
port_regulator_reset_list_.resize(number_of_servos_);
for (int i = 0; i < number_of_servos_; i++) {
char port_motor_position_name[32];
snprintf(port_motor_position_name, sizeof(port_motor_position_name),
"MotorPosition_%s", port_labels_[i].c_str());
port_motor_position_list_[i] = new typeof(*port_motor_position_list_[i]);
this->ports()->addPort(port_motor_position_name,
*port_motor_position_list_[i]);
char port_desired_input_name[32];
snprintf(port_desired_input_name, sizeof(port_desired_input_name),
"computedReg_in_%s", port_labels_[i].c_str());
port_desired_input_list_[i] = new typeof(*port_desired_input_list_[i]);
this->ports()->addPort(port_desired_input_name,
*port_desired_input_list_[i]);
char DesiredPosition_out_port_name[32];
snprintf(DesiredPosition_out_port_name,
sizeof(DesiredPosition_out_port_name), "DesiredPosition_out_%s",
port_labels_[i].c_str());
desired_position_out_list_[i] = new typeof(*desired_position_out_list_[i]);
this->ports()->addPort(DesiredPosition_out_port_name,
*desired_position_out_list_[i]);
char MotorPositionCommand_port_name[32];
snprintf(MotorPositionCommand_port_name,
sizeof(MotorPositionCommand_port_name), "MotorPositionCommand_%s",
port_labels_[i].c_str());
port_motor_position_command_list_[i] =
new typeof(*port_motor_position_command_list_[i]);
this->ports()->addPort(MotorPositionCommand_port_name,
*port_motor_position_command_list_[i]);
char MotorCurrent_port_name[32];
snprintf(MotorCurrent_port_name, sizeof(MotorCurrent_port_name),
"MotorCurrent_%s", port_labels_[i].c_str());
port_motor_current_list_[i] = new typeof(*port_motor_current_list_[i]);
this->ports()->addPort(MotorCurrent_port_name,
*port_motor_current_list_[i]);
char port_regulator_reset_name[32];
snprintf(port_regulator_reset_name, sizeof(port_regulator_reset_name),
"RegulatorResetOutput_%s", port_labels_[i].c_str());
port_regulator_reset_list_[i] = new typeof(*port_regulator_reset_list_[i]);
this->ports()->addPort(port_regulator_reset_name,
*port_regulator_reset_list_[i]);
motor_position_(i) = 0.0;
motor_velocity_(i) = 0.0;
motor_acceleration_(i) = 0.0;
desired_input_(i) = 0.0;
desired_torque_(i) = 0.0;
effective_torque_(i) = 0.0;
}
m_factor_ = step_per_second_ * iteration_per_step_;
return true;
}