Added two buttons to increase and decrease the maximum speed.

include/arm_control.h

@@ -48,7 +48,8 @@ class CArmControl
     void move(unsigned int axis_id,double torque);
     void stop(void);
     // stored poses
-    void set_poses_max_speed(double max);
+    void increase_max_speed(void);
+    void decrease_max_speed(void);
     void load_poses(const std::string &filename);
     void save_poses(const std::string &filename);
     void update_pose(unsigned int pose_id);

src/arm_control.cpp

@@ -19,6 +19,12 @@ void button_callback(void *param,unsigned int button_id,bool level)
   try{
     switch(button_id)
     {
+      case 4: if(level)
+                arm->increase_max_speed();
+              break; 
+      case 6: if(level)
+                arm->decrease_max_speed();
+              break; 
       case 8: if(level)
                 arm->enable_torque(false); 
               else
@@ -126,6 +132,8 @@ CArmControl::CArmControl(const std::string &joy_device,std::string &dyn_serial,
   for(unsigned int i=0;i<this->joy.get_num_buttons();i++)
     this->current_button_state[i]=this->joy.get_button_state(i);
   // assign callbacks
+  this->joy.enable_button_callback(4,button_callback,this);
+  this->joy.enable_button_callback(6,button_callback,this);
   this->joy.enable_button_callback(8,button_callback,this);
   this->joy.enable_button_callback(10,button_callback,this);
   this->joy.enable_button_callback(12,button_callback,this);
@@ -345,13 +353,20 @@ void CArmControl::stop(void)
   this->motors[ROLL]->move_absolute_angle(pos,50.0);
 }
 
-void CArmControl::set_poses_max_speed(double max)
+void CArmControl::increase_max_speed(void)
 {
-  if(max>100.0)
-    max=0.0;
-  else if(max<10.0)
-    max=10.0;
-  this->max_speed=max;
+  this->max_speed+=10.0;
+  if(this->max_speed>100.0)
+    this->max_speed=100.0;
+  std::cout << "speed: " << this->max_speed << std::endl;
+}
+
+void CArmControl::decrease_max_speed(void)
+{
+  this->max_speed-=10.0;
+  if(this->max_speed<10.0)
+    this->max_speed=10.0;
+  std::cout << "speed: " << this->max_speed << std::endl;
 }
 
 void CArmControl::load_poses(const std::string &filename)

src/examples/arm_control_test.cpp

@@ -11,7 +11,6 @@ int main(int argc, char *argv[])
     CArmControl arm(joy_device,dyn_serial,1000000,6,5,4);
 
     arm.load_poses("/home/sergi/Downloads/arm_control/src/xml/poses.xml");
-    arm.set_poses_max_speed(50.0);
     arm.set_max_angles(PAN,90.0,-90.0);
     arm.set_max_angles(TILT,90.0,-90.0);
     arm.set_max_angles(ROLL,90.0,-90.0);