[Personalrobots-commit] SF.net SVN: personalrobots:[2955] pkg/trunk

[<mm...@us...>]

Revision: 2955
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2955&view=rev
Author:   mmwise
Date:     2008-08-12 20:35:34 +0000 (Tue, 12 Aug 2008)

Log Message:
-----------
adding test dir

Modified Paths:
--------------
    pkg/trunk/controllers/generic_controllers/include/generic_controllers/joint_effort_controller.h
    pkg/trunk/controllers/generic_controllers/src/joint_effort_controller.cpp
    pkg/trunk/controllers/generic_controllers/src/joint_velocity_controller.cpp

Added Paths:
-----------
    pkg/trunk/hardware_test/
    pkg/trunk/hardware_test/motors/
    pkg/trunk/hardware_test/motors/src/
    pkg/trunk/hardware_test/motors/xml/
    pkg/trunk/hardware_test/motors/xml/WG_3021.xml

Modified: pkg/trunk/controllers/generic_controllers/include/generic_controllers/joint_effort_controller.h
===================================================================
--- pkg/trunk/controllers/generic_controllers/include/generic_controllers/joint_effort_controller.h	2008-08-12 20:25:09 UTC (rev 2954)
+++ pkg/trunk/controllers/generic_controllers/include/generic_controllers/joint_effort_controller.h	2008-08-12 20:35:34 UTC (rev 2955)
@@ -94,6 +94,11 @@
   double getActual();
 
   /*!
+   * \brief Get latest time..
+   */
+  double getTime();
+
+  /*!
    * \brief Issues commands to the joint. Should be called at regular intervals
    */
 

Modified: pkg/trunk/controllers/generic_controllers/src/joint_effort_controller.cpp
===================================================================
--- pkg/trunk/controllers/generic_controllers/src/joint_effort_controller.cpp	2008-08-12 20:25:09 UTC (rev 2954)
+++ pkg/trunk/controllers/generic_controllers/src/joint_effort_controller.cpp	2008-08-12 20:35:34 UTC (rev 2955)
@@ -78,6 +78,11 @@
   return joint_->applied_effort_;
 }
 
+double JointVelocityController::getTime()
+{
+  return robot_->hw_->current_time_;
+}
+
 void JointEffortController::update()
 {
 

Modified: pkg/trunk/controllers/generic_controllers/src/joint_velocity_controller.cpp
===================================================================
--- pkg/trunk/controllers/generic_controllers/src/joint_velocity_controller.cpp	2008-08-12 20:25:09 UTC (rev 2954)
+++ pkg/trunk/controllers/generic_controllers/src/joint_velocity_controller.cpp	2008-08-12 20:35:34 UTC (rev 2955)
@@ -95,7 +95,7 @@
 // Return the measured joint velocity
 double JointVelocityController::getActual()
 {
-  return joint_->position_;
+  return joint_->velocity_;
 }
 
 void JointVelocityController::update()
@@ -145,7 +145,7 @@
   generic_controllers::GetCommand::request &req,
   generic_controllers::GetCommand::response &resp)
 {
-  resp.command = c_->getCommand();
+  resp.command = c_->getActual();
   resp.time = c_->getTime();
 
   return true;

Added: pkg/trunk/hardware_test/motors/xml/WG_3021.xml
===================================================================
--- pkg/trunk/hardware_test/motors/xml/WG_3021.xml	                        (rev 0)
+++ pkg/trunk/hardware_test/motors/xml/WG_3021.xml	2008-08-12 20:35:34 UTC (rev 2955)
@@ -0,0 +1,30 @@
+<robot name="WG_3021">
+
+  <actuator name="3021_motor">
+  </actuator>
+
+  <joint name="test_joint" type="revolute">
+    <limitMin>-1.48</limitMin>
+    <limitMax>1.48</limitMax>
+    <effortLimit>0.184</effortLimit>
+    <velocityLimit>1256.0</velocityLimit>
+  </joint>
+
+  <transmission type="SimpleTransmission" name="test_transmission">
+    <actuator name="3021_motor" />
+    <joint name="test_joint" />
+    <mechanicalReduction>1</mechanicalReduction>
+    <motorTorqueConstant>-.0603</motorTorqueConstant>
+    <pulsesPerRevolution>1200</pulsesPerRevolution>
+  </transmission>
+
+  <controller name="test_controller" type="JointVelocityControllerNode">
+    <joint name="test_joint">
+      <pGain>0.0006</pGain>
+      <iGain>0.01</iGain>
+      <dGain>0</dGain>
+      <windup>0.007</windup>
+    </joint>
+  </controller>
+
+</robot>


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