[Personalrobots-commit] SF.net SVN: personalrobots:[5047] pkg/trunk

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

Revision: 5047
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5047&view=rev
Author:   rob_wheeler
Date:     2008-10-04 00:33:58 +0000 (Sat, 04 Oct 2008)

Log Message:
-----------
 Return calibration data in radians.
 Set WG0X safety disable when command enabled

Modified Paths:
--------------
    pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/wg0x.h
    pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp
    pkg/trunk/mechanism/mechanism_control/msg/ActuatorState.msg
    pkg/trunk/mechanism/mechanism_model/src/simple_transmission.cpp

Modified: pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/wg0x.h
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/wg0x.h	2008-10-04 00:26:17 UTC (rev 5046)
+++ pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/wg0x.h	2008-10-04 00:33:58 UTC (rev 5047)
@@ -237,7 +237,7 @@
   enum
   {
     MODE_OFF = 0x00, MODE_CURRENT = 0x01, MODE_ENABLE = 0x02,
-    MODE_UNDERVOLTAGE = 0x04, MODE_RESET = 0x80
+    MODE_UNDERVOLTAGE = 0x04, MODE_SAFETY_RESET = 0x10, MODE_RESET = 0x80
   };
 
   enum

Modified: pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp	2008-10-04 00:26:17 UTC (rev 5046)
+++ pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp	2008-10-04 00:33:58 UTC (rev 5047)
@@ -222,6 +222,7 @@
     node->log(ros::FATAL, "Unable to load configuration information");
     return -1;
   }
+  printf("Device #%02d: Serial #: %05d\n", sh_->get_ring_position(), config_info_.device_serial_number_);
 
   if (readEeprom(sh_) < 0)
   {
@@ -303,7 +304,7 @@
   memset(c, 0, sizeof(WG0XCommand));
 
   c->programmed_current_ = int(command.current_ / config_info_.nominal_current_scale_);
-  c->mode_ = command.enable_ ? (MODE_ENABLE | MODE_CURRENT) : MODE_OFF;
+  c->mode_ = command.enable_ ? (MODE_ENABLE | MODE_CURRENT | MODE_SAFETY_RESET) : MODE_OFF;
   c->checksum_ = rotateRight8(computeChecksum(c, sizeof(WG0XCommand) - 1));
 }
 
@@ -353,8 +354,8 @@
       / (this_status->timestamp_ - prev_status->timestamp_) * 1e+6;
   state.velocity_ = state.encoder_velocity_ / actuator_info_.pulses_per_revolution_ * 2 * M_PI;
   state.calibration_reading_ = this_status->calibration_reading_ & LIMIT_SENSOR_0_STATE;
-  state.last_calibration_high_transition_ = double(this_status->last_calibration_high_transition_) / actuator_info_.pulses_per_revolution_;
-  state.last_calibration_low_transition_ = double(this_status->last_calibration_low_transition_) / actuator_info_.pulses_per_revolution_;
+  state.last_calibration_high_transition_ = double(this_status->last_calibration_high_transition_) / actuator_info_.pulses_per_revolution_ * 2 * M_PI;
+  state.last_calibration_low_transition_ = double(this_status->last_calibration_low_transition_) / actuator_info_.pulses_per_revolution_ * 2 * M_PI;
   state.is_enabled_ = this_status->mode_ != MODE_OFF;
   state.run_stop_hit_ = (this_status->mode_ & MODE_UNDERVOLTAGE) != 0;
 

Modified: pkg/trunk/mechanism/mechanism_control/msg/ActuatorState.msg
===================================================================
--- pkg/trunk/mechanism/mechanism_control/msg/ActuatorState.msg	2008-10-04 00:26:17 UTC (rev 5046)
+++ pkg/trunk/mechanism/mechanism_control/msg/ActuatorState.msg	2008-10-04 00:33:58 UTC (rev 5047)
@@ -5,8 +5,8 @@
 float64 encoder_velocity
 float64 velocity
 byte calibration_reading
-int32 last_calibration_high_transition
-int32 last_calibration_low_transition
+float64 last_calibration_high_transition
+float64 last_calibration_low_transition
 byte is_enabled
 byte run_stop_hit
 float64 last_requested_current

Modified: pkg/trunk/mechanism/mechanism_model/src/simple_transmission.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_model/src/simple_transmission.cpp	2008-10-04 00:26:17 UTC (rev 5046)
+++ pkg/trunk/mechanism/mechanism_model/src/simple_transmission.cpp	2008-10-04 00:33:58 UTC (rev 5047)
@@ -58,11 +58,13 @@
 
   TiXmlElement *ael = elt->FirstChildElement("actuator");
   const char *actuator_name = ael ? ael->Attribute("name") : NULL;
-  if (!actuator_name || robot->getActuatorIndex(actuator_name) < 0)
+  Actuator *a;
+  if (!actuator_name || (a = robot->getActuator(actuator_name)) == NULL )
   {
     fprintf(stderr, "SimpleTransmission could not find actuator named \"%s\"\n", actuator_name);
     return false;
   }
+  a->command_.enable_ = true;
   actuator_names_.push_back(actuator_name);
 
   mechanical_reduction_ = atof(elt->FirstChildElement("mechanicalReduction")->GetText());
@@ -95,7 +97,6 @@
   assert(as.size() == 1);
   assert(js.size() == 1);
   as[0]->command_.effort_ = js[0]->commanded_effort_ / mechanical_reduction_;
-  as[0]->command_.enable_ = true;
 }
 
 void SimpleTransmission::propagateEffortBackwards(


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