Obbart/universal_robots_ros_driver
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Added the servoj gain and servoj lookahead time as a parameter at launch time. Resolves #47

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This commit is contained in:
Thomas Timm Andersen
2016-08-30 11:49:25 +02:00
parent d8012be697
commit e785ce0860
6 changed files with 52 additions and 9 deletions
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30
src/ur_driver.cpp
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@@ -22,10 +22,10 @@ UrDriver::UrDriver(std::condition_variable& rt_msg_cond,
std::condition_variable& msg_cond, std::string host,
unsigned int reverse_port, double servoj_time,
unsigned int safety_count_max, double max_time_step, double min_payload,
double max_payload) :
double max_payload, double servoj_lookahead_time, double servoj_gain) :
REVERSE_PORT_(reverse_port), maximum_time_step_(max_time_step), minimum_payload_(
min_payload), maximum_payload_(max_payload), servoj_time_(
servoj_time) {
servoj_time), servoj_lookahead_time_(servoj_lookahead_time), servoj_gain_(servoj_gain) {
char buffer[256];
struct sockaddr_in serv_addr;
int n, flag;
@@ -182,8 +182,8 @@ bool UrDriver::uploadProg() {
cmd_str += "\t\t\telif state == SERVO_RUNNING:\n";
if (sec_interface_->robot_state_->getVersion() >= 3.1)
sprintf(buf, "\t\t\t\tservoj(q, t=%.4f, lookahead_time=0.03)\n",
servoj_time_);
sprintf(buf, "\t\t\t\tservoj(q, t=%.4f, lookahead_time=%.4f, gain=%.0f)\n",
servoj_time_, servoj_lookahead_time_, servoj_gain_);
else
sprintf(buf, "\t\t\t\tservoj(q, t=%.4f)\n", servoj_time_);
cmd_str += buf;
@@ -358,3 +358,25 @@ void UrDriver::setServojTime(double t) {
servoj_time_ = 0.008;
}
}
void UrDriver::setServojLookahead(double t){
if (t > 0.03) {
if (t < 0.2) {
servoj_lookahead_time_ = t;
} else {
servoj_lookahead_time_ = 0.2;
}
} else {
servoj_lookahead_time_ = 0.03;
}
}
void UrDriver::setServojGain(double g){
if (g > 100) {
if (g < 2000) {
servoj_gain_ = g;
} else {
servoj_gain_ = 2000;
}
} else {
servoj_gain_ = 100;
}
}