fix cartesian path bug

.gitignore

@@ -0,0 +1,2 @@
+.vscode
+build

CMakeLists.txt

@@ -5,7 +5,7 @@ set(PACKAGE_NAME z1_controller)
 set(CMAKE_CXX_FLAGS "$ENV{CXXFLAGS} -O3")
 
 # ----------------------options----------------------
-set(COMMUNICATION UDP)            # UDP
+ set(COMMUNICATION UDP)            # UDP
 # set(COMMUNICATION ROS)          # ROS
 
 

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));