On 11.12.2013 12:01, Jakob Schwendner wrote:
Hi Dennis,
I already envisaged this scenario when I wrote the module, but did not
completely implement it.
There is a type in base, which is called base::JointLimits, which I
wrote so that you could set the software limits in modules like e.g.
the servo dynamixel.
You're right. I think using the joint limits type is the right way to do
it.We already used it in a couple of components and it seems to work fine
I my oppinion, here is what you should do to get what you want:
-Add a "joint_limits" property to the servo_dynamixel module, of the
typee base::JointLimits
-Set the moving_speed and the torque limit in the configure hook
according to the limits in your property. Assume max value if there
are no limits given for the joints.
-On each command that you receive, you can run a validate over the
limits, to check if your input values are fine. I guess it would be
good to have it configurable to what should happen if there are not
(e.g. throw, warn, or whatever)
The JointLimits has never been used before I think. It may have some
rough edges... Let me know if you are unsure about certain things, or
want to change something.
OK
Cheers,
Jakob
*From:*[email protected] [mailto:[email protected]] *On
Behalf Of *Dennis Mronga
*Sent:* Mittwoch, 11. Dezember 2013 11:37
*To:* [email protected]
*Subject:* [Rock-dev] make moving speed configurable in
orogen-servo_dynamixel / dynamixel
Hi,
I would like to have the possibility to set the moving speed of a
servo at configuration time. Right now it is set to 1023 by default
and has to be changed via the command input port, which does not fit
our needs. Same goes for the torque limit.
If there are no objections, I would like to add two new members
"moving_speed" and "torque_limit" to ServoConfiguration and make the
respective changes in the orogen component
Best,
Dennis
--
Dipl.-Ing. Dennis Mronga
Researcher
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