Merge branch 'master' of https://github.com/Bytelogics/z1_controller

# Conflicts:
#	README.md

.dockerignore

@@ -0,0 +1,2 @@
+build/**
+build

.gitignore

@@ -0,0 +1,4 @@
+.vscode
+/build
+/cmake-build*
+.idea

CMakeLists.txt

@@ -5,9 +5,10 @@ set(PACKAGE_NAME z1_controller)
 set(CMAKE_CXX_FLAGS "$ENV{CXXFLAGS} -O3")
 
 # ----------------------options----------------------
+if (NOT COMMUNICATION)
  set(COMMUNICATION UDP)            # UDP
 # set(COMMUNICATION ROS)          # ROS
-
+endif()
 
 # ----------------------configurations----------------------
 # COMMUNICATION

Dockerfile

@@ -0,0 +1,14 @@
+FROM osrf/ros:noetic-desktop-full
+
+RUN apt-get update
+RUN apt-get -y install python3-catkin-tools
+
+ADD . / data/
+WORKDIR data
+RUN mkdir build
+WORKDIR build
+ENV CMAKE_PREFIX_PATH=/opt/ros/noetic
+RUN bash -c 'cmake ..'
+RUN make
+
+CMD ./z1_ctrl

README.md

@@ -3,10 +3,11 @@ documentation
 [unitree-z1-docs-english](http://dev-z1.unitree.com)
 
 [unitree-z1-docs-chinese](http://dev-z1.cn.unitree.com)
-Documentation:
 
-[unitree-z1-docs-en](http://dev-z1.unitree.com)
+see [unitree-z1-docs](http://dev-z1.unitree.com)
-
-[unitree-z1-docs-cn](http://dev-z1.cn.unitree.com)
 
+## Build docker image
+docker build . -t bytelogics:z1_controller
 
+## Run the docker instance
+docker run -ti --rm --network host -p 8071:8071 bytelogics:z1_controller

include/FSM/State_Cartesian.h

@@ -16,7 +16,7 @@ private:
     double _posSpeed = 0.2;
     double oriSpeedLimit = 0.5;// limits in SDK
     double posSpeedLimit = 0.5;
-    VecX _changeDirections;
+    VecX _changeDirectionsf;
 
     Vec6 _twist;
     HomoMat _endHomoGoal, _endHomoPast, _endHomoDelta;

include/control/armSDK.h

@@ -7,7 +7,7 @@
 class ARMSDK : public CmdPanel{
 public:
     ARMSDK(std::vector<KeyAction*> events, 
-        EmptyAction emptyAction, const char* IP, uint toport, uint ownport, double dt = 0.002);
+        EmptyAction emptyAction, const char* IP, uint port, double dt = 0.002);
     ~ARMSDK();
     SendCmd getSendCmd();
     int getState(size_t channelID = 0);

include/control/cmdPanel.h

@@ -76,7 +76,7 @@ private:
     double _dV = 0.0; //delta value per delta time
     double _dt = 0.0;
     double _dVdt = 0.0; // delta value per second
-    double _dVdtf = 0.0; // delta value per second after filter
+    double _dVdtf = 0.0; // delta value per second after fliter
     double _lim1, _lim2;
     bool _hasLim = false;
     bool _hasGoZero = false;

main.cpp

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