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z1_sdk
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fix bigdemo

This commit is contained in:
Agnel Wang 2022-12-07 15:43:59 +08:00
parent ad2ede5bc6
commit 3c24becd7d
2 changed files with 6 additions and 12 deletions
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18
examples/bigDemo.cpp
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@ -24,22 +24,16 @@ void Z1ARM::armCtrlByFSM() {
std::cout << "[MOVEJ]" << std::endl; std::cout << "[MOVEJ]" << std::endl;
posture[0]<<0.5,0.1,0.1,0.5,-0.2,0.5; posture[0]<<0.5,0.1,0.1,0.5,-0.2,0.5;
MoveJ(posture[0], -M_PI/3.0, 1.0); MoveJ(posture[0], 0, 1.0);
std::cout << "[MOVEL]" << std::endl; std::cout << "[MOVEL]" << std::endl;
posture[0] << 0,0,0,0.45,-0.2,0.2; posture[0] << 0,0,0,0.45,-0.2,0.2;
setWait(false); MoveL(posture[0], -1, 0.3);
MoveL(posture[0], 0., 0.3);
//check trajectory finish
while(_ctrlComp->recvState.state != ArmFSMState::JOINTCTRL){
usleep(2000);
}
setWait(true);
std::cout << "[MOVEC]" << std::endl; std::cout << "[MOVEC]" << std::endl;
posture[0] << 0,0,0,0.45,0,0.4; posture[0] << 0,0,0,0.45,0,0.4;
posture[1] << 0,0,0,0.45,0.2,0.2; posture[1] << 0,0,0,0.45,0.2,0.2;
MoveC(posture[0], posture[1], -M_PI/3.0, 0.3); MoveC(posture[0], posture[1], 0, 0.3);
} }
void Z1ARM::armCtrlInJointCtrl(){ void Z1ARM::armCtrlInJointCtrl(){
@ -59,7 +53,7 @@ void Z1ARM::armCtrlInCartesian(){
for(int i(0); i<1000;i++){ for(int i(0); i<1000;i++){
directions<< 0, 0, 0, 0, 0, -1, 0; directions<< 0, 0, 0, 0, 0, -1, 0;
cartesianCtrlCmd(directions, 0., 0.2); cartesianCtrlCmd(directions, 0., 0.1);
usleep(_ctrlComp->dt*1000000); usleep(_ctrlComp->dt*1000000);
} }
} }
@ -82,8 +76,8 @@ int main() {
arm.backToStart(); arm.backToStart();
// size_t demo = 2; size_t demo = 2;
for(size_t demo = 1; demo < 4; demo++) // for(size_t demo = 1; demo < 4; demo++)
switch (demo) switch (demo)
{ {
case 1: case 1:

BIN
lib/libZ1_SDK_Linux64.so
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