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z1_controller
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fix multi-robots control bug

This commit is contained in:
Agnel Wang 2023-07-11 21:47:21 +08:00
parent 7cf9f61955
commit 8eb6595658
8 changed files with 6 additions and 7 deletions
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4
CMakeLists.txt
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@ -17,7 +17,7 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
add_executable(z1_ctrl main.cpp) add_executable(z1_ctrl main.cpp)
target_link_libraries(z1_ctrl libZ1_${CMAKE_HOST_SYSTEM_PROCESSOR}.so) target_link_libraries(z1_ctrl libZ1_${CMAKE_HOST_SYSTEM_PROCESSOR}.so)
find_package(gazebo) find_package(catkin)
if(${gazebo_FOUND}) if(${catkin_FOUND})
add_subdirectory(sim) add_subdirectory(sim)
endif() endif()

1
include/FSM/State_TeachRepeat.h
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@ -18,7 +18,6 @@ private:
bool _reachedStart = false; bool _reachedStart = false;
bool _finishedRepeat = false; bool _finishedRepeat = false;
size_t _index = 0; size_t _index = 0;
size_t _indexPast;
Vec6 _trajStartQ, _trajStartQd; Vec6 _trajStartQ, _trajStartQd;
double _trajStartGripperQ, _trajStartGripperQd; double _trajStartGripperQ, _trajStartGripperQd;

2
include/control/armSDK.h
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@ -7,7 +7,7 @@
class ARMSDK : public CmdPanel{ class ARMSDK : public CmdPanel{
public: public:
ARMSDK(std::vector<KeyAction*> events, ARMSDK(std::vector<KeyAction*> events,
EmptyAction emptyAction, const char* IP, uint port, double dt = 0.002); EmptyAction emptyAction, const char* sdkIP, uint sdkPort, uint ownPort, double dt = 0.002);
~ARMSDK(); ~ARMSDK();
SendCmd getSendCmd(); SendCmd getSendCmd();
int getState(size_t channelID = 0); int getState(size_t channelID = 0);

2
include/message/LowlevelState.h
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@ -53,7 +53,7 @@ public:
double getGripperTauFiltered(); double getGripperTauFiltered();
private: private:
size_t _dof = 6; size_t _dof = 6;
int temporatureLimit = 80.0;// centigrade int temporatureLimit = 80;// centigrade
std::vector<int> _isMotorConnectedCnt; std::vector<int> _isMotorConnectedCnt;
std::vector<bool> _isMotorLostConnection; std::vector<bool> _isMotorLostConnection;
}; };

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lib/libZ1_aarch64.so
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lib/libZ1_x86_64.so
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2
main.cpp
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@ -45,7 +45,7 @@ int main(int argc, char **argv){
ctrlComp->ioInter = new IOUDP(ctrlComp->ctrl_IP.c_str(), ctrlComp->ctrl_port); ctrlComp->ioInter = new IOUDP(ctrlComp->ctrl_IP.c_str(), ctrlComp->ctrl_port);
ctrlComp->geneObj(); ctrlComp->geneObj();
if(ctrlComp->ctrl == Control::SDK){ if(ctrlComp->ctrl == Control::SDK){
ctrlComp->cmdPanel = new ARMSDK(events, emptyAction, "127.0.0.1", 8072, 0.002); ctrlComp->cmdPanel = new ARMSDK(events, emptyAction, "127.0.0.1", 8072, 8071, 0.002);
}else if(ctrlComp->ctrl == Control::KEYBOARD){ }else if(ctrlComp->ctrl == Control::KEYBOARD){
events.push_back(new StateAction("`", (int)ArmFSMStateName::BACKTOSTART)); events.push_back(new StateAction("`", (int)ArmFSMStateName::BACKTOSTART));
events.push_back(new StateAction("1", (int)ArmFSMStateName::PASSIVE)); events.push_back(new StateAction("1", (int)ArmFSMStateName::PASSIVE));

2
sim/sim_ctrl.cpp
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@ -48,7 +48,7 @@ int main(int argc, char **argv){
ctrlComp->ioInter = new IOROS(); ctrlComp->ioInter = new IOROS();
ctrlComp->geneObj(); ctrlComp->geneObj();
if(ctrlComp->ctrl == Control::SDK){ if(ctrlComp->ctrl == Control::SDK){
ctrlComp->cmdPanel = new ARMSDK(events, emptyAction, "127.0.0.1", 8072, 0.002); ctrlComp->cmdPanel = new ARMSDK(events, emptyAction, "127.0.0.1", 8072, 8071, 0.002);
}else if(ctrlComp->ctrl == Control::KEYBOARD){ }else if(ctrlComp->ctrl == Control::KEYBOARD){
events.push_back(new StateAction("`", (int)ArmFSMStateName::BACKTOSTART)); events.push_back(new StateAction("`", (int)ArmFSMStateName::BACKTOSTART));
events.push_back(new StateAction("1", (int)ArmFSMStateName::PASSIVE)); events.push_back(new StateAction("1", (int)ArmFSMStateName::PASSIVE));