Update of /cvsroot/playerstage/code/player/server/drivers/mixed/p2os
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31322/server/drivers/mixed/p2os
Modified Files:
p2os.cc
Log Message:
applied Reed's patches to fix p2os gripper support and add gripper teleop to
playerv
Index: p2os.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/p2os/p2os.cc,v
retrieving revision 1.77
retrieving revision 1.78
diff -C2 -d -r1.77 -r1.78
*** p2os.cc 6 Nov 2006 16:42:58 -0000 1.77
--- p2os.cc 3 Jan 2007 19:13:21 -0000 1.78
***************
*** 3012,3017 ****
if (cmd.position <= 0.0)
{
! command[2] = GRIPPER;
! command[3] = LIFTdown;
packet.Build (command, 4);
SendReceive (&packet);
--- 3012,3017 ----
if (cmd.position <= 0.0)
{
! command[2] = LIFTdown;
! command[3] = 0;
packet.Build (command, 4);
SendReceive (&packet);
***************
*** 3019,3024 ****
else if (cmd.position >= 1.0)
{
- command[2] = GRIPPER;
command[3] = LIFTup;
packet.Build (command, 4);
SendReceive (&packet);
--- 3019,3024 ----
else if (cmd.position >= 1.0)
{
command[3] = LIFTup;
+ command[3] = 0;
packet.Build (command, 4);
SendReceive (&packet);
***************
*** 3045,3050 ****
// Send the LIFTcarry command
! command[2] = GRIPPER;
! command[3] = LIFTcarry;
packet.Build (command, 4);
SendReceive (&packet);
--- 3045,3050 ----
// Send the LIFTcarry command
! command[2] = LIFTcarry;
! command[3] = 0;
packet.Build (command, 4);
SendReceive (&packet);
***************
*** 3071,3076 ****
command[0] = GRIPPER;
command[1] = ARGINT;
! command[2] = GRIPPER;
! command[3] = LIFTup;
packet.Build (command, 4);
SendReceive (&packet);
--- 3071,3076 ----
command[0] = GRIPPER;
command[1] = ARGINT;
! command[2] = LIFTup;
! command[3] = 0;
packet.Build (command, 4);
SendReceive (&packet);
***************
*** 3090,3100 ****
P2OSPacket packet;
if (sentGripperCmd && lastGripperCmd == PLAYER_GRIPPER_CMD_OPEN)
return;
cmd[0] = GRIPPER;
cmd[1] = ARGINT;
! cmd[2] = GRIPPER;
! cmd[3] = GRIPopen;
packet.Build (cmd, 4);
SendReceive (&packet);
--- 3090,3102 ----
P2OSPacket packet;
+ /*
if (sentGripperCmd && lastGripperCmd == PLAYER_GRIPPER_CMD_OPEN)
return;
+ */
cmd[0] = GRIPPER;
cmd[1] = ARGINT;
! cmd[2] = GRIPopen; // low bits of unsigned 16bit int
! cmd[3] = 0; // high bits of unsigned 16bit int
packet.Build (cmd, 4);
SendReceive (&packet);
***************
*** 3109,3119 ****
P2OSPacket packet;
if (sentGripperCmd && lastGripperCmd == PLAYER_GRIPPER_CMD_CLOSE)
return;
cmd[0] = GRIPPER;
cmd[1] = ARGINT;
! cmd[2] = GRIPPER;
! cmd[3] = GRIPclose;
packet.Build (cmd, 4);
SendReceive (&packet);
--- 3111,3123 ----
P2OSPacket packet;
+ /*
if (sentGripperCmd && lastGripperCmd == PLAYER_GRIPPER_CMD_CLOSE)
return;
+ */
cmd[0] = GRIPPER;
cmd[1] = ARGINT;
! cmd[2] = GRIPclose; // low bits of unsigned 16 bit int
! cmd[3] = 0; // high bits of unsigned 16bit int
packet.Build (cmd, 4);
SendReceive (&packet);
***************
*** 3133,3138 ****
cmd[0] = GRIPPER;
cmd[1] = ARGINT;
! cmd[2] = GRIPPER;
! cmd[3] = GRIPstop;
packet.Build (cmd, 4);
SendReceive (&packet);
--- 3137,3142 ----
cmd[0] = GRIPPER;
cmd[1] = ARGINT;
! cmd[2] = GRIPstop;
! cmd[3] = 0;
packet.Build (cmd, 4);
SendReceive (&packet);
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