bool threadInit()
{
//initialize here variables
printf("ControlThread:starting\n");
Property options;
options.put("device", "remote_controlboard");
options.put("local", "/local/head");
//substitute icubSim with icub for use with the real robot
options.put("remote", "/icubSim/head");
dd.open(options);
dd.view(iencs);
dd.view(ivel);
if ( (!iencs) || (!ivel) )
return false;
int joints;
iencs->getAxes(&joints);
encoders.resize(joints);
commands.resize(joints);
commands=10000;
ivel->setRefAccelerations(commands.data());
count=0;
return true;
}
void threadRelease()
{
printf("ControlThread:stopping the robot\n");
ivel->stop();
dd.close();
printf("Done, goodbye from ControlThread\n");
}
void run()
{
//do the work
iencs->getEncoders(encoders.data());
count++;
if (count%2)
commands=5;
else
commands=-5;
ivel->velocityMove(commands.data());
printf(".");
}
bool updateModule()
{
LockGuard guard(mutex);
if (Vector *in=dataIn.read(false))
Controller_U_reference=(*in)[0];
ienc->getEncoder(joint,&Controller_U_plant_output);
// Step the model
double t0=Time::now();
// Step the model
Controller_step(Controller_M, Controller_U_reference,
Controller_U_compensator_state, Controller_U_plant_output,
&Controller_Y_controller_output,
&Controller_Y_controller_reference,
&Controller_Y_plant_reference, &Controller_Y_error_statistics,
&Controller_Y_enable_compensation);
double t1=Time::now();
ivel->velocityMove(joint,Controller_Y_controller_output);
Vector &out=dataOut.prepare();
out.resize(7);
out[0]=Controller_U_reference;
out[1]=Controller_Y_plant_reference;
out[2]=Controller_U_plant_output;
out[3]=Controller_Y_controller_reference;
out[4]=Controller_Y_controller_output;
out[5]=Controller_Y_error_statistics;
out[6]=Controller_Y_enable_compensation;
dataOut.write();
yInfo("time elapsed = %g [us]",(t1-t0)*1e6);
return true;
}
bool close()
{
handlerPort.close();
objectsPort.close();
igaze->stopControl();
igaze->restoreContext(startupGazeContextID);
igaze->deleteContext(startupGazeContextID);
igaze->deleteContext(currentGazeContextID);
if (clientGazeCtrl.isValid())
clientGazeCtrl.close();
icartLeft->stopControl();
icartLeft->restoreContext(startupArmLeftContextID);
icartLeft->deleteContext(startupArmLeftContextID);
icartLeft->deleteContext(currentArmLeftContextID);
if (clientArmLeft.isValid())
clientArmLeft.close();
icartRight->stopControl();
icartRight->restoreContext(startupArmRightContextID);
icartRight->deleteContext(startupArmRightContextID);
icartRight->deleteContext(currentArmRightContextID);
if (clientArmLeft.isValid())
clientArmLeft.close();
itorsoVelocity->stop();
if (clientTorso.isValid())
clientTorso.close();
return true;
}
int main(int argc, char *argv[])
{
// just list the devices if no argument given
if (argc <= 2) {
printf("You can call %s like this:\n", argv[0]);
printf(" %s --robot ROBOTNAME --OPTION VALUE ...\n", argv[0]);
printf("For example:\n");
printf(" %s --robot icub --local /talkto/james --remote /controlboard/rpc\n", argv[0]);
printf("Here are devices listed for your system:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
// get command line options
Property options;
options.fromCommand(argc, argv);
if (!options.check("robot") || !options.check("part")) {
printf("Missing either --robot or --part options\n");
return 0;
}
Network::init();
Time::turboBoost();
std::string name;
Value& v = options.find("robot");
Value& part = options.find("part");
Value *val;
if (!options.check("device", val)) {
options.put("device", "remote_controlboard");
}
if (!options.check("local", val)) {
name="/"+std::string(v.asString().c_str())+"/"+std::string(part.asString().c_str())+"/simpleclient";
//sprintf(&name[0], "/%s/%s/client", v.asString().c_str(), part.asString().c_str());
options.put("local", name.c_str());
}
if (!options.check("remote", val)) {
name="/"+std::string(v.asString().c_str())+"/"+std::string(part.asString().c_str());
//sprintf(&name[0], "/%s/%s", v.asString().c_str(), part.asString().c_str());
options.put("remote", name.c_str());
}
fprintf(stderr, "%s", options.toString().c_str());
// create a device
PolyDriver dd(options);
if (!dd.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
Network::fini();
return 1;
}
IPositionControl *pos;
IPositionDirect *posDir;
IVelocityControl *vel;
IEncoders *enc;
IPidControl *pid;
IAmplifierControl *amp;
IControlLimits *lim;
// IControlMode *icm;
IControlMode2 *iMode2;
ITorqueControl *itorque;
IOpenLoopControl *iopenloop;
IImpedanceControl *iimp;
IInteractionMode *iInteract;
bool ok;
ok = dd.view(pos);
ok &= dd.view(vel);
ok &= dd.view(enc);
ok &= dd.view(pid);
ok &= dd.view(amp);
ok &= dd.view(lim);
// ok &= dd.view(icm);
ok &= dd.view(itorque);
ok &= dd.view(iopenloop);
ok &= dd.view(iimp);
ok &= dd.view(posDir);
ok &= dd.view(iMode2);
ok &= dd.view(iInteract);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 1;
}
pos->getAxes(&jnts);
printf("Working with %d axes\n", jnts);
double *tmp = new double[jnts];
printf("Device active...\n");
while (dd.isValid()) {
std::string s;
s.resize(1024);
printf("-> ");
char c = 0;
int i = 0;
while (c != '\n') {
c = (char)fgetc(stdin);
s[i++] = c;
}
s[i-1] = s[i] = 0;
Bottle p;
Bottle response;
bool ok=false;
bool rec=false;
p.fromString(s.c_str());
printf("Bottle: %s\n", p.toString().c_str());
switch(p.get(0).asVocab()) {
case VOCAB_HELP:
printf("\n\n");
printf("Available commands:\n");
printf("-------------------\n\n");
printf("IOpenLoop:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_IOPENLOOP).c_str());
printf(" [set] [%s] <int> <float>\n",
Vocab::decode(VOCAB_OUTPUT).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_OUTPUT).c_str());
printf(" [get] [%s]\n\n",
Vocab::decode(VOCAB_OUTPUTS).c_str());
printf("IControlMode:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_ICONTROLMODE).c_str());
printf(" [set] [%s]|[%s]|[%s]|[%s]|[%s]|[%s]|[%s]|[%s][%s]|[%s]\n",
Vocab::decode(VOCAB_CM_POSITION).c_str(),
Vocab::decode(VOCAB_CM_POSITION_DIRECT).c_str(),
Vocab::decode(VOCAB_CM_VELOCITY).c_str(),
Vocab::decode(VOCAB_CM_MIXED).c_str(),
Vocab::decode(VOCAB_CM_TORQUE).c_str(),
Vocab::decode(VOCAB_CM_OPENLOOP).c_str(),
Vocab::decode(VOCAB_CM_IDLE).c_str(),
Vocab::decode(VOCAB_CM_FORCE_IDLE).c_str(),
Vocab::decode(VOCAB_CM_IMPEDANCE_POS).c_str(),
Vocab::decode(VOCAB_CM_IMPEDANCE_VEL).c_str());
printf(" [get] [%s] <int>\n\n",
Vocab::decode(VOCAB_CM_CONTROL_MODE).c_str());
printf("ITorqueControl:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_TORQUE).c_str());
printf(" [get] [%s] <int> to read the measured torque for a single axis\n", Vocab::decode(VOCAB_TRQ).c_str());
printf(" [get] [%s] to read the measured torque for all axes\n", Vocab::decode(VOCAB_TRQS).c_str());
printf(" [set] [%s] <int> <float> to set the reference torque for a single axis\n", Vocab::decode(VOCAB_REF).c_str());
printf(" [set] [%s] <float list> to set the reference torque for all axes\n", Vocab::decode(VOCAB_REFS).c_str());
printf(" [get] [%s] <int> to read the reference torque for a single axis\n", Vocab::decode(VOCAB_REF).c_str());
printf(" [get] [%s] to read the reference torque for all axes\n\n", Vocab::decode(VOCAB_REFS).c_str());
printf("IImpedanceControl:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_IMPEDANCE).c_str());
printf(" [set] [%s] <int> <float> <float> \n",
Vocab::decode(VOCAB_IMP_PARAM).c_str());
printf(" [set] [%s] <int> <float>\n\n",
Vocab::decode(VOCAB_IMP_OFFSET).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_IMP_PARAM).c_str());
printf(" [get] [%s] <int>\n\n",
Vocab::decode(VOCAB_IMP_OFFSET).c_str());
printf("IInteractionMode:\ntype [%s] and one of the following:\n", Vocab::decode(VOCAB_INTERFACE_INTERACTION_MODE).c_str());
printf(" [set] [%s]|[%s] <int>\n",
Vocab::decode(VOCAB_IM_STIFF).c_str(),
Vocab::decode(VOCAB_IM_COMPLIANT).c_str());
printf(" [get] [%s] <int>\n",
Vocab::decode(VOCAB_INTERACTION_MODE).c_str());
printf(" [get] [%s] \n\n",
Vocab::decode(VOCAB_INTERACTION_MODES).c_str());
printf("Standard Interfaces:\n");
printf("type [get] and one of the following:\n");
printf(" [%s] to read the number of controlled axes\n", Vocab::decode(VOCAB_AXES).c_str());
printf(" [%s] to read the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf(" [%s] to read the PID values for all axes\n", Vocab::decode(VOCAB_PIDS).c_str());
printf(" [%s] <int> to read the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf(" [%s] <int> to read the limit values for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf(" [%s] to read the PID error for all axes\n", Vocab::decode(VOCAB_ERRS).c_str());
printf(" [%s] to read the PID output for all axes\n", Vocab::decode(VOCAB_OUTPUTS).c_str());
printf(" [%s] to read the reference position for all axes\n", Vocab::decode(VOCAB_REFERENCES).c_str());
printf(" [%s] <int> to read the reference position for a single axis\n", Vocab::decode(VOCAB_REFERENCE).c_str());
printf(" [%s] to read the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf(" [%s] <int> to read the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf(" [%s] to read the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf(" [%s] <int> to read the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf(" [%s] to read the current consumption for all axes\n", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
printf("\n");
printf("type [set] and one of the following:\n");
printf(" [%s] <int> <double> to move a single axis\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str());
printf(" [%s] <int> <double> to accelerate a single axis to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str());
printf(" [%s] <int> <double> to set the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf(" [%s] <int> <double> to set the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf(" [%s] <list> to move multiple axes\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
printf(" [%s] <list> to accelerate multiple axes to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
printf(" [%s] <list> to set the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf(" [%s] <list> to set the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf(" [%s] <int> to stop a single axis\n", Vocab::decode(VOCAB_STOP).c_str());
printf(" [%s] <int> to stop all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
printf(" [%s] <int> <list> to set the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf(" [%s] <int> <list> to set the limits for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf(" [%s] <int> to disable the PID control for a single axis\n", Vocab::decode(VOCAB_DISABLE).c_str());
printf(" [%s] <int> to enable the PID control for a single axis\n", Vocab::decode(VOCAB_ENABLE).c_str());
printf(" [%s] <int> <double> to set the encoder value for a single axis\n", Vocab::decode(VOCAB_ENCODER).c_str());
printf(" [%s] <list> to set the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf("\n");
printf("NOTES: - A list is a sequence of numbers in parenthesis, e.g. (10 2 1 10)\n");
printf(" - Pids are expressed as a list of 7 numbers, type get pid <int> to see an example\n");
printf("\n");
break;
case VOCAB_QUIT:
goto ApplicationCleanQuit;
break;
case VOCAB_ICONTROLMODE:
{
handleControlModeMsg(iMode2, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_IMPEDANCE:
{
handleImpedanceMsg(iimp, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_TORQUE:
{
handleTorqueMsg(itorque, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_INTERFACE_INTERACTION_MODE:
{
handleInteractionModeMsg(iInteract, p, response, &rec, &ok);
printf("%s\n", response.toString().c_str());
break;
}
case VOCAB_GET:
switch(p.get(1).asVocab()) {
case VOCAB_AXES: {
int nj = 0;
enc->getAxes(&nj);
printf ("%s: %d\n", Vocab::decode(VOCAB_AXES).c_str(), nj);
}
break;
case VOCAB_ENCODERS: {
enc->getEncoders(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ENCODERS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
pid->getPid(j, &pd);
printf("%s: ", Vocab::decode(VOCAB_PID).c_str());
printf("kp %.2f ", pd.kp);
printf("kd %.2f ", pd.kd);
printf("ki %.2f ", pd.ki);
printf("maxi %.2f ", pd.max_int);
printf("maxo %.2f ", pd.max_output);
printf("off %.2f ", pd.offset);
printf("scale %.2f ", pd.scale);
printf("\n");
}
break;
case VOCAB_PIDS: {
Pid *p = new Pid[jnts];
ok = pid->getPids(p);
Bottle& b = response.addList();
int i;
for (i = 0; i < jnts; i++)
{
Bottle& c = b.addList();
c.addDouble(p[i].kp);
c.addDouble(p[i].kd);
c.addDouble(p[i].ki);
c.addDouble(p[i].max_int);
c.addDouble(p[i].max_output);
c.addDouble(p[i].offset);
c.addDouble(p[i].scale);
}
printf("%s\n", b.toString().c_str());
delete[] p;
}
break;
case VOCAB_LIMITS: {
double min, max;
int j = p.get(2).asInt();
lim->getLimits(j, &min, &max);
printf("%s: ", Vocab::decode(VOCAB_LIMITS).c_str());
printf("limits: (%.2f %.2f)\n", min, max);
}
break;
case VOCAB_ERRS: {
pid->getErrors(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ERRS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUTS: {
iopenloop->getOutputs(tmp);
printf ("%s: (", Vocab::decode(VOCAB_OUTPUTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUT: {
int j = p.get(2).asInt();
double v;
iopenloop->getOutput(j, &v);
printf("%s: ", Vocab::decode(VOCAB_OUTPUT).c_str());
printf("%.2f ", v);
printf("\n");
}
break;
case VOCAB_REFERENCE: {
double ref_pos;
int j = p.get(2).asInt();
pid->getReference(j,&ref_pos);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCE).c_str());
printf ("%.2f ", ref_pos);
printf (")\n");
}
break;
case VOCAB_REFERENCES: {
pid->getReferences(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCES).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEEDS: {
pos->getRefSpeeds(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEED: {
double ref_speed;
int j = p.get(2).asInt();
pos->getRefSpeed(j,&ref_speed);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf ("%.2f ", ref_speed);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATION: {
double ref_acc;
int j = p.get(2).asInt();
pos->getRefAcceleration(j,&ref_acc);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf ("%.2f ", ref_acc);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATIONS: {
pos->getRefAccelerations(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_AMP_CURRENTS: {
amp->getCurrents(tmp);
printf ("%s: (", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
}
break;
case VOCAB_SET:
switch(p.get(1).asVocab()) {
case VOCAB_POSITION_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: moving %d to %.2f\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str(), j, ref);
pos->positionMove(j, ref);
}
break;
case VOCAB_VELOCITY_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: accelerating %d to %.2f\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str(), j, ref);
vel->velocityMove(j, ref);
}
break;
case VOCAB_REF_SPEED: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting speed for %d to %.2f\n", Vocab::decode(VOCAB_REF_SPEED).c_str(), j, ref);
pos->setRefSpeed(j, ref);
}
break;
case VOCAB_REF_ACCELERATION: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting acceleration for %d to %.2f\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str(), j, ref);
pos->setRefAcceleration(j, ref);
}
break;
case VOCAB_POSITION_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
pos->positionMove(tmp);
}
break;
case VOCAB_VELOCITY_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
vel->velocityMove(tmp);
}
break;
case VOCAB_REF_SPEEDS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting speed for all joints\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
pos->setRefSpeeds(tmp);
}
break;
case VOCAB_REF_ACCELERATIONS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting acceleration for all joints\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
pos->setRefAccelerations(tmp);
}
break;
case VOCAB_STOP: {
int j = p.get(2).asInt();
printf("%s: stopping axis %d\n", Vocab::decode(VOCAB_STOP).c_str(), j);
pos->stop(j);
}
break;
case VOCAB_STOPS: {
printf("%s: stopping all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
pos->stop();
}
break;
case VOCAB_ENCODER: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting the encoder value for %d to %.2f\n", Vocab::decode(VOCAB_ENCODER).c_str(), j, ref);
enc->setEncoder(j, ref);
}
break;
case VOCAB_ENCODERS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting the encoder value for all joints\n", Vocab::decode(VOCAB_ENCODERS).c_str());
enc->setEncoders(tmp);
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
Bottle *l = p.get(3).asList();
if (l==0)
{
printf("Check you specify a 7 elements list, e.g. set pid 0 (2000 20 1 300 300 0 0)\n");
}
else
{
int elems=l->size();
if (elems>=3)
{
pd.kp = l->get(0).asDouble();
pd.kd = l->get(1).asDouble();
pd.ki = l->get(2).asDouble();
if (elems>=7)
{
pd.max_int = l->get(3).asDouble();
pd.max_output = l->get(4).asDouble();
pd.offset = l->get(5).asDouble();
pd.scale = l->get(6).asDouble();
}
printf("%s: setting PID values for axis %d\n", Vocab::decode(VOCAB_PID).c_str(), j);
pid->setPid(j, pd);
}
else
{
printf("Error, check you specify at least 7 elements, e.g. set pid 0 (2000 20 1 300 300 0 0)\n");
}
}
}
break;
case VOCAB_DISABLE: {
int j = p.get(2).asInt();
printf("%s: disabling control for axis %d\n", Vocab::decode(VOCAB_DISABLE).c_str(), j);
pid->disablePid(j);
amp->disableAmp(j);
}
break;
case VOCAB_ENABLE: {
int j = p.get(2).asInt();
printf("%s: enabling control for axis %d\n", Vocab::decode(VOCAB_ENABLE).c_str(), j);
amp->enableAmp(j);
pid->enablePid(j);
}
break;
case VOCAB_LIMITS: {
int j = p.get(2).asInt();
printf("%s: setting limits for axis %d\n", Vocab::decode(VOCAB_LIMITS).c_str(), j);
Bottle *l = p.get(3).asList();
lim->setLimits(j, l->get(0).asDouble(), l->get(1).asDouble());
}
break;
case VOCAB_OUTPUT: {
int j=p.get(2).asInt();
double v=p.get(3).asDouble();
iopenloop->setRefOutput(j,v);
printf("%s: setting output for axis %d to %f\n", Vocab::decode(VOCAB_OUTPUT).c_str(), j, v);
}
break;
}
break;
} /* switch get(0) */
} /* while () */
ApplicationCleanQuit:
dd.close();
delete[] tmp;
Network::fini();
return 0;
}
int main() {
Network yarp; // set up yarp
BufferedPort<Bottle> targetPort;
targetPort.open("/mover/target/in");
Network::connect("/objectDetector/target","/mover/target/in");
Network::connect("/tracker/target:o","/mover/target/in");
Property options;
options.put("device", "remote_controlboard");
options.put("local", "/mover/motor/client");
options.put("remote", "/icubSim/head");
PolyDriver robotHead(options);
if (!robotHead.isValid())
{
printf("Cannot connect to robot head\n");
return 1;
}
IPositionControl *pos;
IVelocityControl *vel;
IEncoders *enc;
robotHead.view(pos);
robotHead.view(vel);
robotHead.view(enc);
if (pos==NULL || vel==NULL || enc==NULL)
{
printf("Cannot get interface to robot head\n");
robotHead.close();
return 1;
}
int jnts = 0;
pos->getAxes(&jnts);
Vector setpoints;
setpoints.resize(jnts);
for (int i=0; i<jnts; i++)
{
setpoints[i] = 0.0;
}
pos->positionMove(setpoints.data());
while (1)
{ // repeat forever
Bottle *target = targetPort.read(); // read a target
if (target!=NULL)
{ // check we actually got something
printf("We got a vector containing");
for (int i=0; i<target->size(); i++)
{
printf(" %g", target->get(i).asDouble());
}
printf("\n");
double x = target->get(0).asDouble();
double y = target->get(1).asDouble();
double conf = target->get(2).asDouble();
x -= 320/2;
y -= 240/2;
double vx = x*0.1;
double vy = -y*0.1;
/* prepare command */
for (int i=0; i<jnts; i++)
{
setpoints[i] = 0;
}
if (conf>0.5)
{
setpoints[0] = vy*5;
setpoints[1] = 0.0;
setpoints[2] = -vx*7;
setpoints[3] = vy;
setpoints[4] = vx;
vel->velocityMove(setpoints.data());
}
else
{
setpoints[0] = 0.0;
setpoints[1] = 0.0;
setpoints[2] = 0.0;
setpoints[3] = 0;
setpoints[4] = 0;
pos->positionMove(setpoints.data());
}
}
}
return 0;
}
int main() {
Network yarp; // set up yarp
BufferedPort<Vector> targetPort;
targetPort.open("/tutorial/target/in");
Network::connect("/tutorial/target/out","/tutorial/target/in");
Property options;
options.put("device", "remote_controlboard");
options.put("local", "/tutorial/motor/client");
options.put("remote", "/icub/head");
PolyDriver robotHead(options);
if (!robotHead.isValid()) {
printf("Cannot connect to robot head\n");
return 1;
}
IPositionControl *pos;
IVelocityControl *vel;
IEncoders *enc;
robotHead.view(pos);
robotHead.view(vel);
robotHead.view(enc);
if (pos==NULL || vel==NULL || enc==NULL) {
printf("Cannot get interface to robot head\n");
robotHead.close();
return 1;
}
int jnts = 0;
pos->getAxes(&jnts);
Vector setpoints;
setpoints.resize(jnts);
int cnt=0;bool temp;
while (1) { // repeat forever
Vector *target = targetPort.read(); // read a target
if (target!=NULL) { // check we actually got something
printf("We got a vector containing");
for (int i=0; i<target->size(); i++) {
printf(" %g", (*target)[i]);
}
printf("\n");
double x = (*target)[0];
double y = (*target)[1];
double conf = (*target)[2];
x -= 320/2;
y -= 240/2;
double vx = x*0.1;
double vy = -y*0.1;
// prepare command
/*if(cnt>2)
temp =false;
else if(cnt<-2)
temp =true;
if (temp ==true)
cnt++;
else if (temp==false)
cnt--;*/
for (int i=0; i<jnts; i++) {
setpoints[i] = 0.0;//(double)cnt;
}
//setpoints[0] = (double) cnt;
if (conf>0.5) {
setpoints[3] = vy;
setpoints[4] = vx;
} else {
setpoints[3] = 0;
setpoints[4] = 0;
}
for (int i=0; i<jnts; i++) {
printf("%f ", setpoints[i]);
}
printf("\n");
vel->velocityMove(setpoints.data());
//pos->positionMove(setpoints.data());
//getchar();
}
}
return 0;
}
int main(int argc, char *argv[])
{
// just list the devices if no argument given
if (argc <= 2) {
printf("You can call %s like this:\n", argv[0]);
printf(" %s --robot ROBOTNAME --OPTION VALUE ...\n", argv[0]);
printf("For example:\n");
printf(" %s --robot icub --part any --remote /controlboard\n", argv[0]);
printf("Here are devices listed for your system:\n");
printf("%s", Drivers::factory().toString().c_str());
return 0;
}
// get command line options
Property options;
options.fromCommand(argc, argv);
if (!options.check("robot") || !options.check("part")) {
printf("Missing either --robot or --part options\n");
return 0;
}
Network yarp;
Time::turboBoost();
char name[1024];
Value& v = options.find("robot");
Value& part = options.find("part");
Value *val;
if (!options.check("device", val)) {
options.put("device", "remote_controlboard");
}
if (!options.check("local", val)) {
sprintf(name, "/%s/%s/client", v.asString().c_str(), part.asString().c_str());
options.put("local", name);
}
if (!options.check("remote", val)) {
sprintf(name, "/%s/%s", v.asString().c_str(), part.asString().c_str());
options.put("remote", name);
}
fprintf(stderr, "%s", options.toString().c_str());
// create a device
PolyDriver dd(options);
if (!dd.isValid()) {
printf("Device not available. Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
return 1;
}
IPositionControl *pos;
IVelocityControl *vel;
IEncoders *enc;
IPidControl *pid;
IAmplifierControl *amp;
IControlLimits *lim;
bool ok;
ok = dd.view(pos);
ok &= dd.view(vel);
ok &= dd.view(enc);
ok &= dd.view(pid);
ok &= dd.view(amp);
ok &= dd.view(lim);
if (!ok) {
printf("Problems acquiring interfaces\n");
return 1;
}
int jnts = 0;
pos->getAxes(&jnts);
printf("Working with %d axes\n", jnts);
double *tmp = new double[jnts];
assert (tmp != NULL);
printf("Device active...\n");
while (dd.isValid()) {
char s[1024];
printf("-> ");
char c = 0;
int i = 0;
while (c != '\n') {
c = (char)fgetc(stdin);
s[i++] = c;
}
s[i-1] = s[i] = 0;
Bottle p;
p.fromString(s);
printf("Bottle: %s\n", p.toString().c_str());
switch(p.get(0).asVocab()) {
case VOCAB_HELP:
printf("\n\n");
printf("Available commands:\n\n");
printf("type [get] and one of the following:\n");
printf("[%s] to read the number of controlled axes\n", Vocab::decode(VOCAB_AXES).c_str());
printf("[%s] to read the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf("[%s] <int> to read the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf("[%s] <int> to read the limit values for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf("[%s] to read the PID error for all axes\n", Vocab::decode(VOCAB_ERRS).c_str());
printf("[%s] to read the PID output for all axes\n", Vocab::decode(VOCAB_OUTPUTS).c_str());
printf("[%s] to read the reference position for all axes\n", Vocab::decode(VOCAB_REFERENCES).c_str());
printf("[%s] to read the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf("[%s] to read the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf("[%s] to read the current consumption for all axes\n", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
printf("\n");
printf("type [set] and one of the following:\n");
printf("[%s] <int> <double> to move a single axis\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str());
printf("[%s] <int> <double> to accelerate a single axis to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str());
printf("[%s] <int> <double> to set the reference speed for a single axis\n", Vocab::decode(VOCAB_REF_SPEED).c_str());
printf("[%s] <int> <double> to set the reference acceleration for a single axis\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str());
printf("[%s] <list> to move multiple axes\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
printf("[%s] <list> to accelerate multiple axes to a given speed\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
printf("[%s] <list> to set the reference speed for all axes\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
printf("[%s] <list> to set the reference acceleration for all axes\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
printf("[%s] <int> to stop a single axis\n", Vocab::decode(VOCAB_STOP).c_str());
printf("[%s] <int> to stop all axes\n", Vocab::decode(VOCAB_STOPS).c_str());
printf("[%s] <int> <list> to set the PID values for a single axis\n", Vocab::decode(VOCAB_PID).c_str());
printf("[%s] <int> <list> to set the limits for a single axis\n", Vocab::decode(VOCAB_LIMITS).c_str());
printf("[%s] <int> to disable the PID control for a single axis\n", Vocab::decode(VOCAB_DISABLE).c_str());
printf("[%s] <int> to enable the PID control for a single axis\n", Vocab::decode(VOCAB_ENABLE).c_str());
printf("[%s] <int> <double> to set the encoder value for a single axis\n", Vocab::decode(VOCAB_ENCODER).c_str());
printf("[%s] <list> to set the encoder value for all axes\n", Vocab::decode(VOCAB_ENCODERS).c_str());
printf("\n");
break;
case VOCAB_QUIT:
goto ApplicationCleanQuit;
break;
case VOCAB_GET:
switch(p.get(1).asVocab()) {
case VOCAB_AXES: {
int nj = 0;
enc->getAxes(&nj);
printf ("%s: %d\n", Vocab::decode(VOCAB_AXES).c_str(), nj);
}
break;
case VOCAB_ENCODERS: {
enc->getEncoders(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ENCODERS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
pid->getPid(j, &pd);
printf("%s: ", Vocab::decode(VOCAB_PID).c_str());
printf("kp %.2f ", pd.kp);
printf("kd %.2f ", pd.kd);
printf("ki %.2f ", pd.ki);
printf("maxi %.2f ", pd.max_int);
printf("maxo %.2f ", pd.max_output);
printf("off %.2f ", pd.offset);
printf("scale %.2f ", pd.scale);
printf("\n");
}
break;
case VOCAB_LIMITS: {
double min, max;
int j = p.get(2).asInt();
lim->getLimits(j, &min, &max);
printf("%s: ", Vocab::decode(VOCAB_LIMITS).c_str());
printf("limits: (%.2f %.2f)\n", min, max);
}
break;
case VOCAB_ERRS: {
pid->getErrorLimits(tmp);
printf ("%s: (", Vocab::decode(VOCAB_ERRS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_OUTPUTS: {
pid->getErrors(tmp);
printf ("%s: (", Vocab::decode(VOCAB_OUTPUTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REFERENCES: {
pid->getReferences(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REFERENCES).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_SPEEDS: {
pos->getRefSpeeds(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_REF_ACCELERATIONS: {
pos->getRefAccelerations(tmp);
printf ("%s: (", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
case VOCAB_AMP_CURRENTS: {
amp->getCurrents(tmp);
printf ("%s: (", Vocab::decode(VOCAB_AMP_CURRENTS).c_str());
for(i = 0; i < jnts; i++)
printf ("%.2f ", tmp[i]);
printf (")\n");
}
break;
}
break;
case VOCAB_SET:
switch(p.get(1).asVocab()) {
case VOCAB_POSITION_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: moving %d to %.2f\n", Vocab::decode(VOCAB_POSITION_MOVE).c_str(), j, ref);
pos->positionMove(j, ref);
}
break;
case VOCAB_VELOCITY_MOVE: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: accelerating %d to %.2f\n", Vocab::decode(VOCAB_VELOCITY_MOVE).c_str(), j, ref);
vel->velocityMove(j, ref);
}
break;
case VOCAB_REF_SPEED: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting speed for %d to %.2f\n", Vocab::decode(VOCAB_REF_SPEED).c_str(), j, ref);
pos->setRefSpeed(j, ref);
}
break;
case VOCAB_REF_ACCELERATION: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting acceleration for %d to %.2f\n", Vocab::decode(VOCAB_REF_ACCELERATION).c_str(), j, ref);
pos->setRefAcceleration(j, ref);
}
break;
case VOCAB_POSITION_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_POSITION_MOVES).c_str());
pos->positionMove(tmp);
}
break;
case VOCAB_VELOCITY_MOVES: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: moving all joints\n", Vocab::decode(VOCAB_VELOCITY_MOVES).c_str());
vel->velocityMove(tmp);
}
break;
case VOCAB_REF_SPEEDS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting speed for all joints\n", Vocab::decode(VOCAB_REF_SPEEDS).c_str());
pos->setRefSpeeds(tmp);
}
break;
case VOCAB_REF_ACCELERATIONS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting acceleration for all joints\n", Vocab::decode(VOCAB_REF_ACCELERATIONS).c_str());
pos->setRefAccelerations(tmp);
}
break;
case VOCAB_STOP: {
int j = p.get(2).asInt();
printf("%s: stopping axis %d\n", Vocab::decode(VOCAB_STOP).c_str());
pos->stop(j);
}
break;
case VOCAB_STOPS: {
printf("%s: stopping all axes %d\n", Vocab::decode(VOCAB_STOPS).c_str());
pos->stop();
}
break;
case VOCAB_ENCODER: {
int j = p.get(2).asInt();
double ref = p.get(3).asDouble();
printf("%s: setting the encoder value for %d to %.2f\n", Vocab::decode(VOCAB_ENCODER).c_str(), j, ref);
enc->setEncoder(j, ref);
}
break;
case VOCAB_ENCODERS: {
Bottle *l = p.get(2).asList();
for (i = 0; i < jnts; i++) {
tmp[i] = l->get(i).asDouble();
}
printf("%s: setting the encoder value for all joints\n", Vocab::decode(VOCAB_ENCODERS).c_str());
enc->setEncoders(tmp);
}
break;
case VOCAB_PID: {
Pid pd;
int j = p.get(2).asInt();
Bottle *l = p.get(3).asList();
pd.kp = l->get(0).asDouble();
pd.kd = l->get(1).asDouble();
pd.ki = l->get(2).asDouble();
pd.max_int = l->get(3).asDouble();
pd.max_output = l->get(4).asDouble();
pd.offset = l->get(5).asDouble();
pd.scale = l->get(6).asDouble();
printf("%s: setting PID values for axis %d\n", Vocab::decode(VOCAB_PID).c_str(), j);
pid->setPid(j, pd);
}
break;
case VOCAB_DISABLE: {
int j = p.get(2).asInt();
printf("%s: disabling control for axis %d\n", Vocab::decode(VOCAB_DISABLE).c_str(), j);
pid->disablePid(j);
amp->disableAmp(j);
}
break;
case VOCAB_ENABLE: {
int j = p.get(2).asInt();
printf("%s: enabling control for axis %d\n", Vocab::decode(VOCAB_ENABLE).c_str(), j);
amp->enableAmp(j);
pid->enablePid(j);
}
break;
case VOCAB_LIMITS: {
int j = p.get(2).asInt();
printf("%s: setting limits for axis %d\n", Vocab::decode(VOCAB_LIMITS).c_str(), j);
Bottle *l = p.get(3).asList();
lim->setLimits(j, l->get(0).asDouble(), l->get(1).asDouble());
}
break;
}
break;
} /* switch get(0) */
} /* while () */
ApplicationCleanQuit:
dd.close();
delete[] tmp;
return 0;
}
bool exploreTorso(Vector target)
{
Vector torsoInitialJoints;
Vector torsoActualJoints;
Vector torsoVelocityCommand;
Vector torsoAccCommand;
Vector error,integral,derivative,preError;
int jointsNumber=0;
int i;
double time= 0.0;
itorsoVelocity->getAxes(&jointsNumber);
torsoAccCommand.resize(jointsNumber);
torsoVelocityCommand.resize(jointsNumber);
torsoInitialJoints.resize(jointsNumber);
torsoActualJoints.resize(jointsNumber);
error.resize(jointsNumber);
integral.resize(jointsNumber);
derivative.resize(jointsNumber);
preError.resize(jointsNumber);
preError[0] = 0.0;
preError[1] = 0.0;
preError[2] = 0.0;
integral[0] = 0.0;
integral[1] = 0.0;
integral[2] = 0.0;
derivative[0] = 0.0;
derivative[1] = 0.0;
derivative[2] = 0.0;
for(i =0; i< jointsNumber;i++);
torsoAccCommand[i] = torsoAcceleration[i];
itorsoVelocity->setRefAccelerations(torsoAccCommand.data());
if (!iTorsoEncoder->getEncoders(torsoInitialJoints.data())){
cout<<"Error in reading encoders."<<endl;
return false;
}
VectorOf<int> modes(3);
modes[0]=modes[1]=modes[2]=VOCAB_CM_VELOCITY;
itorsoMode->setControlModes(modes.getFirst());
error = target-torsoInitialJoints;
integral = integral + (error * DT);
derivative = (error - preError) / DT;
preError = error;
torsoVelocityCommand = kp * error + KI * integral + KD * derivative;
time = Time::now();
while (norm(error)>0.2){
if(Time::now()-time>maxTorsoTrajTime){
cout<<"Max time reached."<<endl;
itorsoVelocity->stop();
return true;
}
itorsoVelocity->velocityMove(torsoVelocityCommand.data());
if (!iTorsoEncoder->getEncoders(torsoActualJoints.data())){
cout<<"Error in reading encoders."<<endl;
itorsoVelocity->stop();
return false;
}
error = target-torsoActualJoints;
integral = integral + (error * DT);
derivative = (error - preError) / DT;
preError = error;
torsoVelocityCommand = kp * error + KI * integral + KD * derivative;
Time::delay(DT);
}
itorsoVelocity->stop();
return true;
}
