void dg_blmc_robots::DGMSolo8TI::calibrate_joint_position |
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const blmc_robots::Vector8d & |
zero_to_index_angle | ) |
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private |
Calibrate the robot joint position.
- Parameters
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zero_to_index_angle | is the angle between the theoretical zero and the next positive angle. |
bool dg_blmc_robots::DGMSolo8TI::calibrate_joint_position_callback |
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dg_blmc_robots::JointCalibration::Request & |
req, |
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dg_blmc_robots::JointCalibration::Response & |
res |
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) |
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Handle the calibrate_joint callback.
- Parameters
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req | ROS request. |
res | ROS response. |
- Returns
- True if calibration was successful, false otherwise.
void dg_blmc_robots::DGMSolo8TI::get_sensors_to_map |
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dynamic_graph::VectorDGMap & |
map | ) |
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get_sensors_to_map acquieres the sensors data and feed it to the input/output map
- Parameters
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Joint data
Additional data
Robot status
void dg_blmc_robots::DGMSolo8TI::initialize_hardware_communication_process |
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| ) |
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initialize_hardware_communication_process is the function that initialize the hardware.
Load the calibration parameters
initialize the user commands
void dg_blmc_robots::DGMSolo8TI::set_motor_controls_from_map |
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const dynamic_graph::VectorDGMap & |
map | ) |
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set_motor_controls_from_map reads the input map that contains the controls and send these controls to the hardware.
- Parameters
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blmc_robots::Vector8d dg_blmc_robots::DGMSolo8TI::ctrl_joint_torques_ |
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private |
ctrl_joint_torques_ the joint torques to be sent.
Used in this class to perform a local copy of the control. This is need in order to send this copy to the blmc_robots::Solo class
blmc_robots::Solo8TI dg_blmc_robots::DGMSolo8TI::solo_ |
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private |
Entries for the real hardware.
test_bench_ the real test bench hardware drivers.
blmc_robots::Vector8d dg_blmc_robots::DGMSolo8TI::zero_to_index_angle_from_file_ |
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private |
These are the calibration value extracted from the paramters.
They represent the distance between the theorical zero joint angle and the next jont index.
The documentation for this class was generated from the following files: