79 lines
1.9 KiB
C++
Executable File
79 lines
1.9 KiB
C++
Executable File
#ifndef FSMSTATE_H
|
|
#define FSMSTATE_H
|
|
|
|
#include <string>
|
|
#include <iostream>
|
|
#include <unistd.h>
|
|
#include "control/CtrlComponents.h"
|
|
#include "message/LowlevelCmd.h"
|
|
#include "message/LowlevelState.h"
|
|
#include "common/enumClass.h"
|
|
#include "common/math/mathTools.h"
|
|
#include "common/math/mathTypes.h"
|
|
#include "unitree_arm_sdk/timer.h"
|
|
#include "model/ArmDynKineModel.h"
|
|
|
|
#include "FSM/FiniteStateMachine.h"
|
|
|
|
class FSMState : public BaseState{
|
|
public:
|
|
FSMState(CtrlComponents *ctrlComp, ArmFSMStateName stateName, std::string stateNameString);
|
|
virtual ~FSMState(){}
|
|
|
|
virtual void enter() = 0;
|
|
virtual void run() = 0;
|
|
virtual void exit() = 0;
|
|
virtual int checkChange(int cmd) {return (int)ArmFSMStateName::INVALID;}
|
|
|
|
protected:
|
|
void _armCtrl();
|
|
void _tauDynForward();
|
|
void _tauFriction();
|
|
void _qdFeedBack();
|
|
bool _collisionTest();
|
|
void _jointPosProtect();
|
|
void _jointSpeedProtect();
|
|
void _stateUpdate();
|
|
|
|
void _gripperCmd();
|
|
void _gripperCtrl();
|
|
double _gripperPos;
|
|
double _gripperW;
|
|
double _gripperTau;
|
|
double _gripperPosStep;//keyboard
|
|
double _gripperTauStep;
|
|
|
|
double _gripperLinearFriction;
|
|
double _gripperCoulombFriction;
|
|
static double _gripperCoulombDirection;
|
|
double _gripperFriction;
|
|
|
|
CtrlComponents *_ctrlComp;
|
|
ArmFSMStateName _nextStateName;
|
|
|
|
IOInterface *_ioInter;
|
|
LowlevelCmd *_lowCmd;
|
|
LowlevelState *_lowState;
|
|
UserValue _userValue;
|
|
ArmDynKineModel *_armModel;
|
|
|
|
Vec6 _qPast, _qdPast, _q, _qd, _qdd;
|
|
Vec6 _tau, _endForce;
|
|
|
|
Vec6 _coulombFriction;
|
|
static Vec6 _coulombDirection;
|
|
Vec6 _linearFriction;
|
|
|
|
Vec6 _kpDiag, _kdDiag;
|
|
Mat6 _Kp, _Kd;
|
|
|
|
std::vector<double> _jointQMax;
|
|
std::vector<double> _jointQMin;
|
|
std::vector<double> _jointSpeedMax;
|
|
|
|
SendCmd _sendCmd;
|
|
RecvState _recvState;
|
|
};
|
|
|
|
#endif // FSMSTATE_H
|