[Personalrobots-commit] SF.net SVN: personalrobots:[4347] pkg/trunk

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

Revision: 4347
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4347&view=rev
Author:   mmwise
Date:     2008-09-16 21:02:13 +0000 (Tue, 16 Sep 2008)

Log Message:
-----------
updating test_controllers

Modified Paths:
--------------
    pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/CMakeLists.txt
    pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/manifest.xml
    pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/src/motor_test1.cpp
    pkg/trunk/robot_control_loops/pr2_etherCAT/manifest.xml

Modified: pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/CMakeLists.txt
===================================================================
--- pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/CMakeLists.txt	2008-09-16 21:01:42 UTC (rev 4346)
+++ pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/CMakeLists.txt	2008-09-16 21:02:13 UTC (rev 4347)
@@ -3,4 +3,4 @@
 rospack(motor_qualification_controllers)
 genmsg()
 gensrv()
-rospack_add_library(motor_qualification_controllers src/motor_test1.cpp)
+rospack_add_library(motor_qualification_controllers src/motor_test1.cpp src/motor_test2.cpp src/motor_test3.cpp)

Modified: pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/manifest.xml
===================================================================
--- pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/manifest.xml	2008-09-16 21:01:42 UTC (rev 4346)
+++ pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/manifest.xml	2008-09-16 21:02:13 UTC (rev 4347)
@@ -2,11 +2,12 @@
   <description brief='Motor Qualification Controllers'>
     Library for doing testing controllers and methods.
   </description>
-  <author> David Li, Melonee Wise</author>
+  <author> Melonee Wise</author>
   <license>BSD</license>
   <depend package="mechanism_model" />
   <depend package="wg_robot_description_parser" />
   <depend package="stl_utils" />
+  <depend package="newmat10" />
   <depend package="misc_utils" />
   <depend package="robot_msgs" />
   <depend package="generic_controllers" />

Modified: pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/src/motor_test1.cpp
===================================================================
--- pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/src/motor_test1.cpp	2008-09-16 21:01:42 UTC (rev 4346)
+++ pkg/trunk/controllers/testing_controllers/motor_qualification_controllers/src/motor_test1.cpp	2008-09-16 21:02:13 UTC (rev 4347)
@@ -140,9 +140,12 @@
 {
   double f_delta = fixture_joint_end_pos_-fixture_joint_start_pos_;
   double t_delta = test_joint_end_pos_-test_joint_start_pos_;
+  double error = fabs(fabs(f_delta)-fabs(t_delta))/((fabs(f_delta)+fabs(t_delta))/2);
+  printf("f: %f , t: %f\n", f_delta, t_delta);
   diagnostic_message_.set_status_size(1);
   robot_msgs::DiagnosticStatus *status = diagnostic_message_.status;
   status->name = "MotorTest";
+  printf("error: %f\n", error);
   if (f_delta==0 && t_delta==0)
   {
     //the motor isn't moving
@@ -156,7 +159,7 @@
     status->message = "ERROR: The motor encoder is not attached or not powered.";
     
   }
-  else if(f_delta+1<t_delta || f_delta-1>t_delta)
+  else if(error<0.005)
   {
     //the encoder is slipping
     status->level = 2;

Modified: pkg/trunk/robot_control_loops/pr2_etherCAT/manifest.xml
===================================================================
--- pkg/trunk/robot_control_loops/pr2_etherCAT/manifest.xml	2008-09-16 21:01:42 UTC (rev 4346)
+++ pkg/trunk/robot_control_loops/pr2_etherCAT/manifest.xml	2008-09-16 21:02:13 UTC (rev 4347)
@@ -9,6 +9,9 @@
   <depend package="ethercat_hardware"/>
   <depend package="hardware_interface"/>
   <depend package="std_srvs"/>
+  <depend package="generic_controllers"/>
+  <depend package="pr2_controllers"/>
+  <depend package="motor_qualification_controllers"/>
 
   <url>http://pr.willowgarage.com</url>
   <repository>http://pr.willowgarage.com/repos</repository>


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.