36 Commits

Author	SHA1	Message	Date
Thomas Timm Andersen	09dbe010ae	Optimized servoj function call for firmware version >= 3.1	2015-10-30 12:55:51 +01:00
Thomas Timm Andersen	2e37fb00df	Code cleanup	2015-10-28 11:27:38 +01:00
Thomas Timm Andersen	1de174d73f	code cleanup	2015-10-20 13:24:52 +02:00
Thomas Timm Andersen	f856487e9f	Added stability to reverse connection. Resolves #6	2015-10-20 13:21:23 +02:00
Thomas Timm Andersen	6c3cade12f	Changed license to Apache 2.0	2015-10-20 12:49:28 +02:00
Thomas Timm Andersen	8a4cdb51da	Made sure to stop any executing trajectory when the driver is halted	2015-10-20 11:01:54 +02:00
Thomas Timm Andersen	189ecc71ed	Changed servoj_time handling to minimize network transfers. Fixes #7	2015-10-20 10:57:39 +02:00
Thomas Timm Andersen	80e344d167	Fixed an issue where canceling a trajectory wouldn't stop the robot.	2015-10-09 10:47:29 +02:00
Thomas Timm Andersen	d8b8d86ecb	Changed minimum servoj time. Fixes #3	2015-10-08 15:50:22 +02:00
Thomas Timm Andersen	52b68cbd9c	Stop sending data to servoj when stopTraj is called	2015-10-08 15:48:05 +02:00
Thomas Timm Andersen	1d54bcca1d	Stop sending data to servoj when stopTraj is called	2015-10-08 15:47:39 +02:00
Thomas Timm Andersen	22e7d799c2	Changed the servoj loop time for better stability	2015-10-01 12:28:16 +02:00
Thomas Timm Andersen	68b751cdcc	Fixed order of starting and stopping controllers	2015-09-25 10:19:58 +02:00
Thomas Timm Andersen	5c785af6c4	Included a position-based controller. Also prettied up printing	2015-09-25 09:57:33 +02:00
Thomas Timm Andersen	ba96d0f098	Split servoj into several functions for reuseability	2015-09-24 16:51:18 +02:00
Thomas Timm Andersen	6f3bd5d06f	Added catch in case communication fails	2015-09-24 16:26:19 +02:00
Thomas Timm Andersen	6e9f646b02	Added reconnect to secondary port	2015-09-24 16:10:33 +02:00
Thomas Timm Andersen	d5ea350145	Verified all functionality on all simulators	2015-09-22 13:40:03 +02:00
Thomas Timm Andersen	64a33bf5ed	Changed how trajectories are handled to try and speed things up	2015-09-22 10:34:09 +02:00
Thomas Timm Andersen	c4af674faa	Changed how trajectories are handled to try and speed things up	2015-09-22 10:29:44 +02:00
Thomas Timm Andersen	208995d8f3	Checking for acceleration in actionGoal input. Adjusted sweet spot for max_time_step	2015-09-18 15:00:36 +02:00
Thomas Timm Andersen	61dac1e977	Added som ROS_DEBUG messages for IO states	2015-09-16 15:11:49 +02:00
Thomas Timm Andersen	12b92c14db	Bugfixes in URScript commands	2015-09-16 15:08:46 +02:00
Thomas Timm Andersen	fb95d2188d	Tested and bugfixed masterboard data parsing	2015-09-16 13:38:21 +02:00
Thomas Timm Andersen	cb18dd1d96	Implemented communication on port 30001 and 30002 - untested	2015-09-15 17:03:39 +02:00
Thomas Timm Andersen	b5a687a54a	Verified that the use of a char buffer + string concatenation is actually faster than a stringstram	2015-09-15 11:56:28 +02:00
Thomas Timm Andersen	9d56e027d2	Sanity check of actionserver goal input	2015-09-10 14:44:58 +02:00
Thomas Timm Andersen	0e6fe245b9	Added boundary check for setting payload	2015-09-10 14:17:15 +02:00
Thomas Timm Andersen	8bf9e356f5	Read payload and max velocity from parameter server	2015-09-10 14:02:10 +02:00
Thomas Timm Andersen	017810c30f	Added minPayload, maxPayload and maxVelocity	2015-09-10 13:43:58 +02:00
Thomas Timm Andersen	b98e57a475	Added IO and payload service	2015-09-10 10:37:52 +02:00
Thomas Timm Andersen	68835c549e	added launch files	2015-09-09 15:23:06 +02:00
Thomas Timm Andersen	cb38c1f028	Bugfix in calculating servoj commands	2015-09-09 11:15:14 +02:00
Thomas Timm Andersen	28e033f5b3	Added trajectory and actionlib interface	2015-09-08 19:26:43 +02:00
Thomas Timm Andersen	bbcac405d4	Changed uint to unsigned int for better cross-platform performance	2015-09-08 12:46:13 +02:00
Thomas Timm Andersen	401a16fbd4	Cleaned up a bit and removed a few global vars	2015-09-08 12:28:33 +02:00