[Personalrobots-commit] SF.net SVN: personalrobots:[3962] pkg/trunk

[<rob...@us...>]

Revision: 3962
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3962&view=rev
Author:   rob_wheeler
Date:     2008-09-04 23:30:10 +0000 (Thu, 04 Sep 2008)

Log Message:
-----------
Add zero offset for actuators

Modified Paths:
--------------
    pkg/trunk/drivers/motor/ethercat_hardware/src/wg05.cpp
    pkg/trunk/mechanism/hardware_interface/include/hardware_interface/hardware_interface.h

Modified: pkg/trunk/drivers/motor/ethercat_hardware/src/wg05.cpp
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/src/wg05.cpp	2008-09-04 23:22:38 UTC (rev 3961)
+++ pkg/trunk/drivers/motor/ethercat_hardware/src/wg05.cpp	2008-09-04 23:30:10 UTC (rev 3962)
@@ -194,7 +194,7 @@
 
   state.timestamp_ = current_status.timestamp_ / 1e+6;
   state.encoder_count_ = current_status.encoder_count_;
-  state.position_ = double(current_status.encoder_count_) / pulses_per_revolution * 2 * M_PI;
+  state.position_ = double(current_status.encoder_count_ - state.zero_offset_) / pulses_per_revolution * 2 * M_PI;
   state.encoder_velocity_ = double(int(current_status.encoder_count_ - last_status.encoder_count_))
       / (current_status.timestamp_ - last_status.timestamp_) * 1e+6;
   state.velocity_ = state.encoder_velocity_ / pulses_per_revolution * 2 * M_PI;

Modified: pkg/trunk/mechanism/hardware_interface/include/hardware_interface/hardware_interface.h
===================================================================
--- pkg/trunk/mechanism/hardware_interface/include/hardware_interface/hardware_interface.h	2008-09-04 23:22:38 UTC (rev 3961)
+++ pkg/trunk/mechanism/hardware_interface/include/hardware_interface/hardware_interface.h	2008-09-04 23:30:10 UTC (rev 3962)
@@ -49,7 +49,8 @@
       last_requested_effort_(0),
       last_commanded_effort_(0),
       last_measured_effort_(0),
-      num_encoder_errors_(0)
+      num_encoder_errors_(0),
+      zero_offset_(0)
   {}
   double timestamp_;
 
@@ -73,6 +74,8 @@
 
   int num_encoder_errors_;
   int num_communication_errors_;
+
+  int zero_offset_; // In encoder counts
 };
 
 class ActuatorCommand


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