Skip to content
Snippets Groups Projects
Commit 9c07cc17 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Removed the joints_status attributes.

parent 302357b7
No related branches found
No related tags found
No related merge requests found
......@@ -80,9 +80,6 @@ CDarwinRobot::CDarwinRobot(const std::string &name,std::string &bus_id,int bus_s
this->robot_device->read_byte_register(DARWIN_MM_NUM_SERVOS,&this->manager_num_servos);
/* get the current action status */
this->robot_device->read_byte_register(DARWIN_ACTION_CNTRL,&this->action_status);
/* get the current joints status */
for(i=0;i<JOINTS_NUM_GROUPS;i++)
this->robot_device->read_byte_register(DARWIN_JOINT_GRP0_CNTRL+i*5,&this->joints_status[i]);
/* get the current head tracking status */
this->robot_device->read_byte_register(DARWIN_HEAD_CNTRL,&this->head_tracking_status);
}
......@@ -1538,10 +1535,7 @@ std::vector<double> CDarwinRobot::joints_get_group_accels(joints_grp_t group)
void CDarwinRobot::joints_start(joints_grp_t group)
{
if(this->robot_device!=NULL)
{
this->joints_status[(int)group]|=JOINT_START;
this->robot_device->write_byte_register(DARWIN_JOINT_GRP0_CNTRL+((unsigned short int)group*5),this->joints_status[(int)group]);
}
this->robot_device->write_byte_register(DARWIN_JOINT_GRP0_CNTRL+((unsigned short int)group*5),JOINT_START);
else
throw CDarwinRobotException(_HERE_,"Invalid robot device");
}
......@@ -1549,10 +1543,7 @@ void CDarwinRobot::joints_start(joints_grp_t group)
void CDarwinRobot::joints_stop(joints_grp_t group)
{
if(this->robot_device!=NULL)
{
this->joints_status[(int)group]|=JOINT_STOP;
this->robot_device->write_byte_register(DARWIN_JOINT_GRP0_CNTRL+((unsigned short int)group*5),this->joints_status[(int)group]);
}
this->robot_device->write_byte_register(DARWIN_JOINT_GRP0_CNTRL+((unsigned short int)group*5),JOINT_STOP);
else
throw CDarwinRobotException(_HERE_,"Invalid robot device");
}
......
......@@ -52,8 +52,6 @@ class CDarwinRobot
unsigned char manager_status;
/* action status */
unsigned char action_status;
/* joint group status */
unsigned char joints_status[JOINTS_NUM_GROUPS];
/* head tracking status */
unsigned char head_tracking_status;
public:
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment