rafaelcaricio/Open_Duck_Mini_Runtime
1
0
Fork 0
mirror of https://github.com/apirrone/Open_Duck_Mini_Runtime.git synced 2025-09-02 11:13:55 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

rustypot control loop

Browse source
This commit is contained in:
apirrone 2025-02-25 10:52:51 +01:00
parent 200211b50b
commit a4739cb43a
1 changed files with 9 additions and 8 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

17
mini_bdx_runtime/mini_bdx_runtime/rustypot_control_hwi.py
View file

@ -129,10 +129,10 @@ class HWI:
def set_kps(self, kps):
self.kps = kps
self.control.set_kps(self.kps)
self.control.set_new_kps(self.kps)
def turn_on(self):
self.control.set_kps(self.low_torque_kps)
self.control.set_new_kps(self.low_torque_kps)
print("turn on : low KPS set")
time.sleep(1)
@ -141,7 +141,7 @@ class HWI:
time.sleep(1)
self.control.set_kps(self.kps)
self.control.set_new_kps(self.kps)
print("turn on : high kps")
def turn_off(self):
@ -160,7 +160,8 @@ class HWI:
for joint, position in joints_positions.items()
}
self.control.goal_positions = list(ids_positions.values())
self.control.set_new_target(list(ids_positions.values()))
# self.control.goal_positions = list(ids_positions.values())
def get_present_positions(self, ignore=[]):
"""
@ -171,7 +172,7 @@ class HWI:
# self.control.io.get_present_position(self.joints.values())
# )
present_positions = np.deg2rad(self.control.present_positions)
present_positions = np.deg2rad(self.control.get_present_position())
present_positions = [
pos - self.joints_offsets[joint]
for joint, pos in zip(self.joints.keys(), present_positions)
@ -184,7 +185,7 @@ class HWI:
Returns the present velocities in rad/s (default) or rev/min
"""
# deg/s
present_velocities = np.array(self.control.present_speeds)
present_velocities = np.array(self.control.get_current_speed())
present_velocities = [
vel
for joint, vel in zip(self.joints.keys(), present_velocities)
@ -197,8 +198,8 @@ class HWI:
present_velocities = np.deg2rad(present_velocities) # rad/s
return np.array(np.around(present_velocities, 3))
def get_present_voltages(self):
return np.array(self.control.io.get_present_voltage(self.joints.values())) * 0.1
# def get_present_voltages(self):
# return np.array(self.control.io.get_present_voltage(self.joints.values())) * 0.1
# def get_present_velocities(self, rad_s=True):
# """