diff --git a/include/dynamixel_pan_tilt.h b/include/dynamixel_pan_tilt.h
index 3ae73db22a6c67c3aa8b6b769298c0e5bb942754..bc03438844322074deefcd2e0d75dfaf5109132c 100644
--- a/include/dynamixel_pan_tilt.h
+++ b/include/dynamixel_pan_tilt.h
@@ -66,7 +66,7 @@ typedef struct
* - double max_temperature
* - double max_voltage
* - double min_voltage
- * - double max_torque
+ * - double max_pwm
* - unsigned short int punch
*/
@@ -157,8 +157,12 @@ typedef struct
* - tilt
*
* The control_mode enum has the following possible values:
- * - angle_ctrl
- * - torque_ctrl
+ * - current_ctrl
+ * - velocity_ctrl
+ * - position_ctrl
+ * - ext_position_ctrl
+ * - current_pos_ctrl
+ * - pwm_ctrl
*/
typedef struct
@@ -167,28 +171,28 @@ typedef struct
control_mode tilt;
}Control_mode_pan_tilt;
-typedef enum {positive_torque = 1, stopped = 0, negative_torque = -1} Torque_moving_state;
+typedef enum {positive_pwm = 1, stopped = 0, negative_pwm = -1} Pwm_moving_state;
/**
- * \struct Torque_pan_tilt_moving_state.
+ * \struct Pwm_pan_tilt_moving_state.
*
- * \brief A struct to save the torque moving state of the servos.
+ * \brief A struct to save the pwm moving state of the servos.
*
- * It has two members of type Torque_moving_state:
+ * It has two members of type Pwm_moving_state:
* - pan
* - tilt
*
- * The Torque_moving_state enum has the following possible values:
- * - positive_torque
+ * The Pwm_moving_state enum has the following possible values:
+ * - positive_pwm
* - stopped
- * - negative_torque
+ * - negative_pwm
*/
typedef struct
{
- Torque_moving_state pan;
- Torque_moving_state tilt;
-}Torque_pan_tilt_moving_state;
+ Pwm_moving_state pan;
+ Pwm_moving_state tilt;
+}Pwm_pan_tilt_moving_state;
/**
* \struct Dynamixel_pan_tilt_xml_limits.
@@ -196,18 +200,18 @@ typedef struct
* \brief A struct to save the configuration limits readed of a xml file.
*
* It has three members of type Dynamixel_pan_tilt_data:
- * - max_torque
+ * - max_pwm
* - max_angle
* - min_angle
*/
typedef struct
{
- Dynamixel_pan_tilt_data max_torque;
+ Dynamixel_pan_tilt_data max_pwm;
Dynamixel_pan_tilt_data max_angle;
Dynamixel_pan_tilt_data min_angle;
- Dynamixel_pan_tilt_data max_angle_torque;
- Dynamixel_pan_tilt_data min_angle_torque;
+ Dynamixel_pan_tilt_data max_angle_pwm;
+ Dynamixel_pan_tilt_data min_angle_pwm;
}Dynamixel_pan_tilt_xml_limits;
@@ -218,20 +222,20 @@ typedef struct
*
* This class is created to control a Pan-Tilt plataform with two servos. It allows you to get the position of both
* servos or to get the position of any servo. It also allows you to move the Pan-Tilt to a desired position or
- * to a desired position relative to the current position or on torque mode.
+ * to a desired position relative to the current position or on pwm mode.
*
* The best way to configure the Pan-Tilt is with a configuration file in XML. You can see the schema of the configuration
* file at .../src/xml/dynamixel_pan_tilt_cfg_file.xsd. The optional parameters with their default values are:
*
* \b - alarm_shtdwn: 5 (Input Voltage error and Overheating error)
* \b - temp_limit: 85
- * \b - max_torque: 50
+ * \b - max_pwm: 50
* \b - check_hyst_offset: 2.404867
* \b - check_hyst_slope: 0.20688
*
* You can also configurate the following parameters specifically for each servo (if not, both servos get the same configuration value):
*
- * \b - max_torque
+ * \b - max_pwm
* \b - cw_comp_margin
* \b - ccw_comp_margin
* \b - cw_comp_slope
@@ -246,7 +250,7 @@ typedef struct
* \b - check_hyst_slope
*
* It's important to note that the values of min and max angle must be the physical angle limits for the plataform and not
- * overpass this angles is checked with another thread during the torque movement.
+ * overpass this angles is checked with another thread during the pwm movement.
*/
class CDynamixel_Pan_Tilt
@@ -266,12 +270,12 @@ class CDynamixel_Pan_Tilt
pthread_t checking_thread;
pthread_mutex_t mut;
- Torque_pan_tilt_moving_state moving_state;
+ Pwm_pan_tilt_moving_state moving_state;
Dynamixel_pan_tilt_data checking_hysteresis, checking_hysteresis_offset, checking_hysteresis_slope;
CEventServer *event_server;
std::string exiting;
- std::string torque_moving;
+ std::string pwm_moving;
protected:
@@ -324,7 +328,7 @@ class CDynamixel_Pan_Tilt
void update_info(void);
/**
- * \brief Function to be called for the thread in charge to check the angle limits on torque movement.
+ * \brief Function to be called for the thread in charge to check the angle limits on pwm movement.
*
* \param arg A pointer to the class.
*/
@@ -334,42 +338,42 @@ class CDynamixel_Pan_Tilt
* \brief Function to set the both servos_state to stopped.
*
*/
- void reset_torque_moving_state(void);
+ void reset_pwm_moving_state(void);
/**
- * \brief Function that returns if any servo is moving on torque mode.
+ * \brief Function that returns if any servo is moving on pwm mode.
*
* \param b The variable where is going to be returned the value.
*/
- void is_torque_moving(bool &b);
+ void is_pwm_moving(bool &b);
/**
* \brief Function to set a value on pan's moving state.
*
- * \param tms The value desired.
+ * \param pms The value desired.
*/
- void set_moving_state_pan(Torque_moving_state tms);
+ void set_moving_state_pan(Pwm_moving_state pms);
/**
* \brief Function to get the value of pan's moving state.
*
- * \param tms The variable to save the value of the pan's moving state.
+ * \param pms The variable to save the value of the pan's moving state.
*/
- void get_moving_state_pan(Torque_moving_state &tms);
+ void get_moving_state_pan(Pwm_moving_state &pms);
/**
* \brief Function to set a value on tilt's moving state.
*
- * \param tms The value desired.
+ * \param pms The value desired.
*/
- void set_moving_state_tilt(Torque_moving_state tms);
+ void set_moving_state_tilt(Pwm_moving_state pms);
/**
* \brief Function to get the value of tilt's moving state.
*
- * \param tms The variable to save the value of the tilt's moving state.
+ * \param pms The variable to save the value of the tilt's moving state.
*/
- void get_moving_state_tilt(Torque_moving_state &tms);
+ void get_moving_state_tilt(Pwm_moving_state &pms);
/**
* \brief Function to calculate the angle hysteresis depending on the desired effort for the pan servo.
@@ -579,9 +583,9 @@ class CDynamixel_Pan_Tilt
* \brief Function to move the pan-tilt on endless mode for both servos.
* If some of the values passed are out of range, they'll be changed to the value of the limit.
*
- * \param speed A struct with the specific speeds for the movemenet. It's a % of the maximum torque.
+ * \param speed A struct with the specific speeds for the movemenet. It's a % of the maximum pwm.
*/
- void move_torque(Dynamixel_pan_tilt_data &speed);
+ void move_pwm(Dynamixel_pan_tilt_data &speed);
/**
* \brief Function to move the pan servo to a specific position by a specific speed.
@@ -606,9 +610,9 @@ class CDynamixel_Pan_Tilt
* \brief Function to move the pan servo on endless mode.
* If the value passed is out of range, it'll be changed to the value of the limit.
*
- * \param speed The specific speed for the movemenet. It's a % of the maximum torque.
+ * \param speed The specific speed for the movemenet. It's a % of the maximum pwm.
*/
- void move_torque_pan(double &speed);
+ void move_pwm_pan(double &speed);
/**
* \brief Function to move the pan servo to a specific position by a specific speed.
@@ -633,14 +637,14 @@ class CDynamixel_Pan_Tilt
* \brief Function to move the tilt servo on endless mode.
* If the value passed is out of range, it'll be changed to the value of the limit.
*
- * \param speed The specific speed for the movemenet. It's a % of the maximum torque.
+ * \param speed The specific speed for the movemenet. It's a % of the maximum pwm.
*/
- void move_torque_tilt(double &speed);
+ void move_pwm_tilt(double &speed);
/**
* \brief Function to stop the current movement of the pan-tilt.
*
- * It always call the torque_movement function with a zero as argument. That's beacuse the servo can be out of range
+ * It always call the pwm_movement function with a zero as argument. That's beacuse the servo can be out of range
* at the moment of the call so it can generate a exception if it's on angle control mode.
*
*/
@@ -658,7 +662,7 @@ class CDynamixel_Pan_Tilt
*
* \return A struct with the current effort of both servos in %.
*/
- Dynamixel_pan_tilt_data get_current_effort(void);
+ Dynamixel_pan_tilt_data get_current_pwm(void);
/**
* \brief Function to get the compliance configuration of both servos.
@@ -689,18 +693,18 @@ class CDynamixel_Pan_Tilt
void set_pid_control(Dynamixel_pan_tilt_pid &pid);
/**
- * \brief Function to set the max torque of both servos.
+ * \brief Function to set the max pwm of both servos.
*
- * \param pid The torque value.
+ * \param pid The pwm value.
*/
- void set_max_torque(Dynamixel_pan_tilt_data &torque);
+ void set_max_pwm(Dynamixel_pan_tilt_data &pwm);
/**
- * \brief Function to get the current limit torque of both servos in %.
+ * \brief Function to get the current limit pwm of both servos in %.
*
- * \return A struct with the current limit torque of both servos in %.
+ * \return A struct with the current limit pwm of both servos in %.
*/
- Dynamixel_pan_tilt_data get_limit_torque(void);
+ Dynamixel_pan_tilt_data get_pwm_limit(void);
/**
* \brief Function to get the current max angle limit of both servos in deg.
diff --git a/src/dynamixel_pan_tilt.cpp b/src/dynamixel_pan_tilt.cpp
index 33b527f4ce27941a32c033ab4ac1a291ecf4fa1c..99f32ab126270a45dc8d20c2ae92a7a0954f1921 100644
--- a/src/dynamixel_pan_tilt.cpp
+++ b/src/dynamixel_pan_tilt.cpp
@@ -47,13 +47,13 @@ CDynamixel_Pan_Tilt::CDynamixel_Pan_Tilt(std::string& name_pan_tilt, CDynamixelS
this->event_server=CEventServer::instance();
this->exiting = name_pan_tilt + "_exiting";
this->event_server->create_event(this->exiting);
- this->torque_moving = name_pan_tilt + "_torque_moving";
- this->event_server->create_event(this->torque_moving);
+ this->pwm_moving = name_pan_tilt + "_pwm_moving";
+ this->event_server->create_event(this->pwm_moving);
if (this->event_server->event_is_set(this->exiting))
this->event_server->reset_event(this->exiting);
- if (this->event_server->event_is_set(this->torque_moving))
- this->event_server->reset_event(this->torque_moving);
+ if (this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->reset_event(this->pwm_moving);
int res;
@@ -62,7 +62,7 @@ CDynamixel_Pan_Tilt::CDynamixel_Pan_Tilt(std::string& name_pan_tilt, CDynamixelS
perror("Mutex initialization failed");
exit(EXIT_FAILURE);
}
- reset_torque_moving_state();
+ reset_pwm_moving_state();
set_checking_hysteresis_pan(0.0);
set_checking_hysteresis_tilt(0.0);
res = pthread_create(&(this->checking_thread), NULL, checking_angle_limits, (void *)this);
@@ -120,10 +120,10 @@ CDynamixel_Pan_Tilt::~CDynamixel_Pan_Tilt()
this->event_server->delete_event(this->exiting);
this->exiting = "";
}
- if(this->torque_moving != "")
+ if(this->pwm_moving != "")
{
- this->event_server->delete_event(this->torque_moving);
- this->torque_moving = "";
+ this->event_server->delete_event(this->pwm_moving);
+ this->pwm_moving = "";
}
}catch(CException &e){
/* do nothing */
@@ -159,7 +159,7 @@ void CDynamixel_Pan_Tilt::load_config(Dynamixel_pan_tilt_config &config)
this->config.pan.max_temperature = config.pan.max_temperature;
this->config.pan.max_voltage = config.pan.max_voltage;
this->config.pan.min_voltage = config.pan.min_voltage;
- this->config.pan.max_torque = config.pan.max_torque;
+ this->config.pan.max_pwm = config.pan.max_pwm;
this->config.pan.punch = config.pan.punch;
this->config.tilt.max_angle = config.tilt.max_angle;
@@ -167,7 +167,7 @@ void CDynamixel_Pan_Tilt::load_config(Dynamixel_pan_tilt_config &config)
this->config.tilt.max_temperature = config.tilt.max_temperature;
this->config.tilt.max_voltage = config.tilt.max_voltage;
this->config.tilt.min_voltage = config.tilt.min_voltage;
- this->config.tilt.max_torque = config.tilt.max_torque;
+ this->config.tilt.max_pwm = config.tilt.max_pwm;
this->config.tilt.punch = config.tilt.punch;
update_angle_limits();
}
@@ -297,22 +297,22 @@ void CDynamixel_Pan_Tilt::load_config(std::string &filename)
punch--;
this->tilt->set_punch(*punch);
- if (cfg->max_torque().size() > 0)
+ if (cfg->max_pwm().size() > 0)
{
- dynamixel_pan_tilt_config_t::max_torque_const_iterator max_torque (cfg->max_torque().begin());
- this->pan->set_max_torque(*max_torque);
- this->pan->set_limit_torque(*max_torque);
- max_torque = cfg->max_torque().end();
- max_torque--;
- this->tilt->set_max_torque(*max_torque);
- this->tilt->set_limit_torque(*max_torque);
+ dynamixel_pan_tilt_config_t::max_pwm_const_iterator max_pwm (cfg->max_pwm().begin());
+ this->pan->set_max_pwm(*max_pwm);
+ this->pan->set_pwm_limit(*max_pwm);
+ max_pwm = cfg->max_pwm().end();
+ max_pwm--;
+ this->tilt->set_max_pwm(*max_pwm);
+ this->tilt->set_pwm_limit(*max_pwm);
}
else
{
- this->pan->set_max_torque(50.0);
- this->pan->set_limit_torque(50.0);
- this->tilt->set_max_torque(50.0);
- this->tilt->set_limit_torque(50.0);
+ this->pan->set_max_pwm(50.0);
+ this->pan->set_pwm_limit(50.0);
+ this->tilt->set_max_pwm(50.0);
+ this->tilt->set_pwm_limit(50.0);
}
if (cfg->check_hyst_offset().size() > 0)
@@ -383,18 +383,18 @@ void CDynamixel_Pan_Tilt::read_config(std::string &filename, Dynamixel_pan_tilt_
xml_limits.min_angle.tilt = *min_angle;
xml_limits.max_angle.tilt = *max_angle;
- if (cfg->max_torque().size() > 0)
+ if (cfg->max_pwm().size() > 0)
{
- dynamixel_pan_tilt_config_t::max_torque_const_iterator max_torque (cfg->max_torque().begin());
- xml_limits.max_torque.pan = *max_torque;
- max_torque = cfg->max_torque().end();
- max_torque--;
- xml_limits.max_torque.tilt = *max_torque;
+ dynamixel_pan_tilt_config_t::max_pwm_const_iterator max_pwm (cfg->max_pwm().begin());
+ xml_limits.max_pwm.pan = *max_pwm;
+ max_pwm = cfg->max_pwm().end();
+ max_pwm--;
+ xml_limits.max_pwm.tilt = *max_pwm;
}
else
{
- xml_limits.max_torque.pan = 50;
- xml_limits.max_torque.tilt = 50;
+ xml_limits.max_pwm.pan = 50;
+ xml_limits.max_pwm.tilt = 50;
}
}
catch (const xml_schema::exception& e)
@@ -456,7 +456,7 @@ void CDynamixel_Pan_Tilt::save_config(std::string &filename)
this->config.pan.max_temperature,
this->config.pan.max_voltage,
this->config.pan.min_voltage,
- this->config.pan.max_torque,
+ this->config.pan.max_pwm,
cw_compliance_margin,
ccw_compliance_margin,
cw_compliance_slope,
@@ -507,10 +507,10 @@ void CDynamixel_Pan_Tilt::move_absolute_angle_pan(double &angle, double &speed)
{
try
{
- if (this->mode.pan != angle_ctrl)
+ if (this->mode.pan != position_ctrl)
{//It has to update the normal limits and the mode
this->pan->set_position_range(this->min_angle.pan, this->max_angle.pan);
- this->mode.pan = angle_ctrl;
+ this->mode.pan = position_ctrl;
this->config.pan.min_angle = this->min_angle.pan;
this->config.pan.max_angle = this->max_angle.pan;
}
@@ -526,17 +526,17 @@ void CDynamixel_Pan_Tilt::move_absolute_angle_pan(double &angle, double &speed)
angle = this->config.pan.max_angle - ANGLE_LIMIT_CORRECTION;//on the exact limit it gives an error beacuse the conversion between angle and the word
}
- if (fabs(speed) > this->info.pan.max_speed*this->config.pan.max_torque/100)
+ if (fabs(speed) > this->info.pan.max_speed*this->config.pan.max_pwm/100)
{
- std::cout << "\033[33m WARNING: The maximum pan' speed is " << this->info.pan.max_speed*this->config.pan.max_torque/100 << "; Moving pan at this speed. \033[0m" << std::endl;
- speed = this->info.pan.max_speed*this->config.pan.max_torque/100;
+ std::cout << "\033[33m WARNING: The maximum pan' speed is " << this->info.pan.max_speed*this->config.pan.max_pwm/100 << "; Moving pan at this speed. \033[0m" << std::endl;
+ speed = this->info.pan.max_speed*this->config.pan.max_pwm/100;
}
set_moving_state_pan(stopped);
this->pan->move_absolute_angle(angle, speed);
- if (this->event_server->event_is_set(this->torque_moving))
- this->event_server->reset_event(this->torque_moving);
+ if (this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->reset_event(this->pwm_moving);
//set_checking_hysteresis_pan(0.0);
}
catch(CException &e)
@@ -562,10 +562,10 @@ void CDynamixel_Pan_Tilt::move_absolute_angle_tilt(double &angle, double &speed)
{
try
{
- if (this->mode.tilt != angle_ctrl)
+ if (this->mode.tilt != position_ctrl)
{//It has to update the normal limits and the mode
this->tilt->set_position_range(this->min_angle.tilt, this->max_angle.tilt);
- this->mode.tilt = angle_ctrl;
+ this->mode.tilt = position_ctrl;
this->config.tilt.min_angle = this->min_angle.tilt;
this->config.tilt.max_angle = this->max_angle.tilt;
}
@@ -581,16 +581,16 @@ void CDynamixel_Pan_Tilt::move_absolute_angle_tilt(double &angle, double &speed)
angle = this->config.tilt.max_angle - ANGLE_LIMIT_CORRECTION;//on the exact limit it gives an error beacuse the conversion between angle and the word
}
- if (fabs(speed) > this->info.tilt.max_speed*this->config.tilt.max_torque/100)
+ if (fabs(speed) > this->info.tilt.max_speed*this->config.tilt.max_pwm/100)
{
- std::cout << "\033[33m WARNING: The maximum tilt' speed is " << this->info.tilt.max_speed*this->config.tilt.max_torque/100 << "; Moving tilt at this speed. \033[0m" << std::endl;
- speed = this->info.tilt.max_speed*this->config.tilt.max_torque/100;
+ std::cout << "\033[33m WARNING: The maximum tilt' speed is " << this->info.tilt.max_speed*this->config.tilt.max_pwm/100 << "; Moving tilt at this speed. \033[0m" << std::endl;
+ speed = this->info.tilt.max_speed*this->config.tilt.max_pwm/100;
}
set_moving_state_tilt(stopped);
this->tilt->move_absolute_angle(angle, speed);
- if (this->event_server->event_is_set(this->torque_moving))
- this->event_server->reset_event(this->torque_moving);
+ if (this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->reset_event(this->pwm_moving);
//set_checking_hysteresis_tilt(0.0);
}
catch(CException &e)
@@ -657,29 +657,29 @@ void CDynamixel_Pan_Tilt::move_relative_angle_tilt(double &angle, double &speed)
}
}
-void CDynamixel_Pan_Tilt::move_torque(Dynamixel_pan_tilt_data &speed)
+void CDynamixel_Pan_Tilt::move_pwm(Dynamixel_pan_tilt_data &speed)
{
- move_torque_pan(speed.pan);
- move_torque_tilt(speed.tilt);
+ move_pwm_pan(speed.pan);
+ move_pwm_tilt(speed.tilt);
}
-void CDynamixel_Pan_Tilt::move_torque_pan(double &speed)
+void CDynamixel_Pan_Tilt::move_pwm_pan(double &speed)
{
if (this->pan!=NULL)
{
set_moving_state_pan(stopped);
- if (fabs(speed) > this->config.pan.max_torque)
+ if (fabs(speed) > this->config.pan.max_pwm)
{
- (speed > 0 ? speed = this->config.pan.max_torque : speed = -(this->config.pan.max_torque));
- std::cout << "\033[33m WARNING: The maximum pan' speed is " << this->config.pan.max_torque << "; Moving pan at this speed. \033[0m" << std::endl;
+ (speed > 0 ? speed = this->config.pan.max_pwm : speed = -(this->config.pan.max_pwm));
+ std::cout << "\033[33m WARNING: The maximum pan' speed is " << this->config.pan.max_pwm << "; Moving pan at this speed. \033[0m" << std::endl;
}
set_checking_hysteresis_pan(calculate_checking_hysteresis_pan(fabs(speed)));
// double hyst_aux = 0.0;
- // bool change_ctrl_mode = (this->mode.pan == angle_ctrl);
- if (this->mode.pan == angle_ctrl)
+ // bool change_ctrl_mode = (this->mode.pan == position_ctrl);
+ if (this->mode.pan == position_ctrl)
{
- this->mode.pan = torque_ctrl;
+ this->mode.pan = pwm_ctrl;
this->config.pan.min_angle = -this->info.pan.center_angle;
this->config.pan.max_angle = -this->info.pan.center_angle;
}
@@ -694,19 +694,19 @@ void CDynamixel_Pan_Tilt::move_torque_pan(double &speed)
eff = speed;
try
{
- set_moving_state_pan(positive_torque);
- this->pan->move_torque(eff);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ set_moving_state_pan(positive_pwm);
+ this->pan->move_pwm(eff);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
}
catch (CException &e)
{
- std::cout << "\033[31m move pan torque Exception: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m move pan pwm Exception: " << e.what() << "\033[0m" << std::endl;
stop();
this->mode.pan = this->pan->get_control_mode();
this->pan->get_position_range(&this->config.pan.min_angle, &this->config.pan.max_angle);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
throw;
}
// get_checking_hysteresis_pan(hyst_aux);
@@ -714,19 +714,19 @@ void CDynamixel_Pan_Tilt::move_torque_pan(double &speed)
// {
// try
// {
- // set_moving_state_pan(positive_torque);
- // this->pan->move_torque(speed);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // set_moving_state_pan(positive_pwm);
+ // this->pan->move_pwm(speed);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// }
// catch (CException &e)
// {
- // std::cout << "\033[31m move pan torque Exception: " << e.what() << "\033[0m" << std::endl;
+ // std::cout << "\033[31m move pan pwm Exception: " << e.what() << "\033[0m" << std::endl;
// stop();
// this->mode.pan = this->pan->get_control_mode();
// this->pan->get_position_range(&this->config.pan.min_angle, &this->config.pan.max_angle);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// throw;
// }
// }
@@ -734,9 +734,9 @@ void CDynamixel_Pan_Tilt::move_torque_pan(double &speed)
// {
// set_moving_state_pan(stopped);
// double sp = 0;
- // this->pan->move_torque(sp);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // this->pan->move_pwm(sp);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// // if (change_ctrl_mode) change_ctrl_mode = !change_ctrl_mode;
// // double angle = this->max_angle.pan;
// // double aux_speed = speed*this->info.pan.max_speed/100.0;
@@ -755,19 +755,19 @@ void CDynamixel_Pan_Tilt::move_torque_pan(double &speed)
eff = -eff;
try
{
- set_moving_state_pan(negative_torque);
- this->pan->move_torque(eff);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ set_moving_state_pan(negative_pwm);
+ this->pan->move_pwm(eff);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
}
catch (CException &e)
{
- std::cout << "\033[31m move pan torque Exception: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m move pan pwm Exception: " << e.what() << "\033[0m" << std::endl;
stop();
this->mode.pan = this->pan->get_control_mode();
this->pan->get_position_range(&this->config.pan.min_angle, &this->config.pan.max_angle);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
throw;
}
// get_checking_hysteresis_pan(hyst_aux);
@@ -775,19 +775,19 @@ void CDynamixel_Pan_Tilt::move_torque_pan(double &speed)
// {
// try
// {
- // set_moving_state_pan(negative_torque);
- // this->pan->move_torque(speed);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // set_moving_state_pan(negative_pwm);
+ // this->pan->move_pwm(speed);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// }
// catch (CException &e)
// {
- // std::cout << "\033[31m move pan torque Exception: " << e.what() << "\033[0m" << std::endl;
+ // std::cout << "\033[31m move pan pwm Exception: " << e.what() << "\033[0m" << std::endl;
// stop();
// this->mode.pan = this->pan->get_control_mode();
// this->pan->get_position_range(&this->config.pan.min_angle, &this->config.pan.max_angle);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// throw;
// }
// }
@@ -795,9 +795,9 @@ void CDynamixel_Pan_Tilt::move_torque_pan(double &speed)
// {
// set_moving_state_pan(stopped);
// double sp = 0;
- // this->pan->move_torque(sp);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // this->pan->move_pwm(sp);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// // if (change_ctrl_mode) change_ctrl_mode = !change_ctrl_mode;
// // double angle = this->min_angle.pan;
// // double aux_speed = speed*this->info.pan.max_speed/100.0;
@@ -810,25 +810,25 @@ void CDynamixel_Pan_Tilt::move_torque_pan(double &speed)
try
{
set_moving_state_pan(stopped);
- this->pan->move_torque(speed);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ this->pan->move_pwm(speed);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
}
catch (CException &e)
{
- std::cout << "\033[31m move pan torque Exception: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m move pan pwm Exception: " << e.what() << "\033[0m" << std::endl;
stop();
this->mode.pan = this->pan->get_control_mode();
this->pan->get_position_range(&this->config.pan.min_angle, &this->config.pan.max_angle);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
throw;
}
}
// if (change_ctrl_mode)
// {
- // this->mode.pan = torque_ctrl;
+ // this->mode.pan = pwm_ctrl;
// this->config.pan.min_angle = -this->info.pan.center_angle;
// this->config.pan.max_angle = -this->info.pan.center_angle;
// }
@@ -840,23 +840,23 @@ void CDynamixel_Pan_Tilt::move_torque_pan(double &speed)
}
}
-void CDynamixel_Pan_Tilt::move_torque_tilt(double &speed)
+void CDynamixel_Pan_Tilt::move_pwm_tilt(double &speed)
{
if (this->tilt!=NULL)
{
set_moving_state_tilt(stopped);
- if (fabs(speed) > this->config.tilt.max_torque)
+ if (fabs(speed) > this->config.tilt.max_pwm)
{
- (speed > 0 ? speed = this->config.tilt.max_torque : speed = -(this->config.tilt.max_torque));
- std::cout << "\033[33m WARNING: The maximum tilt' speed is " << this->config.tilt.max_torque << "; Moving tilt at this speed. \033[0m" << std::endl;
+ (speed > 0 ? speed = this->config.tilt.max_pwm : speed = -(this->config.tilt.max_pwm));
+ std::cout << "\033[33m WARNING: The maximum tilt' speed is " << this->config.tilt.max_pwm << "; Moving tilt at this speed. \033[0m" << std::endl;
}
set_checking_hysteresis_tilt(calculate_checking_hysteresis_tilt(fabs(speed)));
//double hyst_aux = 0.0;
- //bool change_ctrl_mode = (this->mode.tilt == angle_ctrl);
- if (this->mode.tilt == angle_ctrl)
+ //bool change_ctrl_mode = (this->mode.tilt == position_ctrl);
+ if (this->mode.tilt == position_ctrl)
{
- this->mode.tilt = torque_ctrl;
+ this->mode.tilt = pwm_ctrl;
this->config.tilt.min_angle = -this->info.tilt.center_angle;
this->config.tilt.max_angle = -this->info.tilt.center_angle;
}
@@ -872,19 +872,19 @@ void CDynamixel_Pan_Tilt::move_torque_tilt(double &speed)
eff = speed;
try
{
- set_moving_state_tilt(positive_torque);
- this->tilt->move_torque(eff);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ set_moving_state_tilt(positive_pwm);
+ this->tilt->move_pwm(eff);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
}
catch (CException &e)
{
- std::cout << "\033[31m move tilt torque Exception: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m move tilt pwm Exception: " << e.what() << "\033[0m" << std::endl;
stop();
this->mode.tilt = this->tilt->get_control_mode();
this->tilt->get_position_range(&this->config.tilt.min_angle, &this->config.tilt.max_angle);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
throw;
}
@@ -892,19 +892,19 @@ void CDynamixel_Pan_Tilt::move_torque_tilt(double &speed)
// {
// try
// {
- // set_moving_state_tilt(positive_torque);
- // this->tilt->move_torque(speed);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // set_moving_state_tilt(positive_pwm);
+ // this->tilt->move_pwm(speed);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// }
// catch (CException &e)
// {
- // std::cout << "\033[31m move tilt torque Exception: " << e.what() << "\033[0m" << std::endl;
+ // std::cout << "\033[31m move tilt pwm Exception: " << e.what() << "\033[0m" << std::endl;
// stop();
// this->mode.tilt = this->tilt->get_control_mode();
// this->tilt->get_position_range(&this->config.tilt.min_angle, &this->config.tilt.max_angle);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// throw;
// }
// }
@@ -912,9 +912,9 @@ void CDynamixel_Pan_Tilt::move_torque_tilt(double &speed)
// {
// set_moving_state_tilt(stopped);
// double sp = 0;
- // this->tilt->move_torque(sp);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // this->tilt->move_pwm(sp);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// // if (change_ctrl_mode) change_ctrl_mode = !change_ctrl_mode;
// // double angle = this->max_angle.tilt;
// // double aux_speed = speed*this->info.tilt.max_speed/100.0;
@@ -933,19 +933,19 @@ void CDynamixel_Pan_Tilt::move_torque_tilt(double &speed)
eff = -eff;
try
{
- set_moving_state_tilt(negative_torque);
- this->tilt->move_torque(eff);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ set_moving_state_tilt(negative_pwm);
+ this->tilt->move_pwm(eff);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
}
catch (CException &e)
{
- std::cout << "\033[31m move tilt torque Exception: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m move tilt pwm Exception: " << e.what() << "\033[0m" << std::endl;
stop();
this->mode.tilt = this->tilt->get_control_mode();
this->tilt->get_position_range(&this->config.tilt.min_angle, &this->config.tilt.max_angle);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
throw;
}
// get_checking_hysteresis_tilt(hyst_aux);
@@ -953,19 +953,19 @@ void CDynamixel_Pan_Tilt::move_torque_tilt(double &speed)
// {
// try
// {
- // set_moving_state_tilt(negative_torque);
- // this->tilt->move_torque(speed);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // set_moving_state_tilt(negative_pwm);
+ // this->tilt->move_pwm(speed);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// }
// catch (CException &e)
// {
- // std::cout << "\033[31m move tilt torque Exception: " << e.what() << "\033[0m" << std::endl;
+ // std::cout << "\033[31m move tilt pwm Exception: " << e.what() << "\033[0m" << std::endl;
// stop();
// this->mode.tilt = this->tilt->get_control_mode();
// this->tilt->get_position_range(&this->config.tilt.min_angle, &this->config.tilt.max_angle);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// throw;
// }
// }
@@ -973,9 +973,9 @@ void CDynamixel_Pan_Tilt::move_torque_tilt(double &speed)
// {
// set_moving_state_tilt(stopped);
// double sp = 0;
- // this->tilt->move_torque(sp);
- // if (!this->event_server->event_is_set(this->torque_moving))
- // this->event_server->set_event(this->torque_moving);
+ // this->tilt->move_pwm(sp);
+ // if (!this->event_server->event_is_set(this->pwm_moving))
+ // this->event_server->set_event(this->pwm_moving);
// // if (change_ctrl_mode) change_ctrl_mode = !change_ctrl_mode;
// // double angle = this->min_angle.tilt;
// // double aux_speed = speed*this->info.tilt.max_speed/100.0;
@@ -988,24 +988,24 @@ void CDynamixel_Pan_Tilt::move_torque_tilt(double &speed)
try
{
set_moving_state_tilt(stopped);
- this->tilt->move_torque(speed);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ this->tilt->move_pwm(speed);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
}
catch (CException &e)
{
- std::cout << "\033[31m move tilt torque Exception: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m move tilt pwm Exception: " << e.what() << "\033[0m" << std::endl;
stop();
this->mode.tilt = this->tilt->get_control_mode();
this->tilt->get_position_range(&this->config.tilt.min_angle, &this->config.tilt.max_angle);
- if (!this->event_server->event_is_set(this->torque_moving))
- this->event_server->set_event(this->torque_moving);
+ if (!this->event_server->event_is_set(this->pwm_moving))
+ this->event_server->set_event(this->pwm_moving);
throw;
}
}
// if (change_ctrl_mode)
// {
- // this->mode.tilt = torque_ctrl;
+ // this->mode.tilt = pwm_ctrl;
// this->config.tilt.min_angle = -this->info.tilt.center_angle;
// this->config.tilt.max_angle = -this->info.tilt.center_angle;
// }
@@ -1025,7 +1025,7 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
CEventServer *event_server=CEventServer::instance();
event_list.push_back(pan_tilt->exiting);
- event_list.push_back(pan_tilt->torque_moving);
+ event_list.push_back(pan_tilt->pwm_moving);
int event_id;
@@ -1038,14 +1038,14 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
{
pthread_exit(NULL);
}
- else if (event_id == 1)// ==TORQUE_MOVING
+ else if (event_id == 1)// ==PWM_MOVING
{
bool is_moving;
Dynamixel_pan_tilt_data pos;
- pan_tilt->is_torque_moving(is_moving);
- Torque_moving_state pan_state;
+ pan_tilt->is_pwm_moving(is_moving);
+ Pwm_moving_state pan_state;
pan_tilt->get_moving_state_pan(pan_state);
- Torque_moving_state tilt_state;
+ Pwm_moving_state tilt_state;
pan_tilt->get_moving_state_tilt(tilt_state);
double hyst_aux = 0.0;
@@ -1053,7 +1053,7 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
{
pos = pan_tilt->get_position();
pan_tilt->get_checking_hysteresis_pan(hyst_aux);
- if ((pan_state == positive_torque) && (pos.pan >= (pan_tilt->max_angle.pan - hyst_aux)))
+ if ((pan_state == positive_pwm) && (pos.pan >= (pan_tilt->max_angle.pan - hyst_aux)))
{
double angle_diff = pan_tilt->max_angle.pan - pos.pan;
double eff = pan_tilt->max_safe_effort_pan(angle_diff);
@@ -1062,11 +1062,11 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
try
{
- pan_tilt->pan->move_torque(eff);
+ pan_tilt->pan->move_pwm(eff);
}
catch (CException &e)
{
- std::cout << "\033[31m move pan torque Exception on checking_angle_limits: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m move pan pwm Exception on checking_angle_limits: " << e.what() << "\033[0m" << std::endl;
pan_tilt->stop();
throw;
}
@@ -1078,7 +1078,7 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
// std::cout << "pan out!" << std::endl;
// pan_tilt->print_pan_tilt_data(pos);
}
- else if ((pan_state == negative_torque) && (pos.pan <= (pan_tilt->min_angle.pan + hyst_aux)))
+ else if ((pan_state == negative_pwm) && (pos.pan <= (pan_tilt->min_angle.pan + hyst_aux)))
{
double angle_diff = pos.pan - pan_tilt->min_angle.pan;
double eff = pan_tilt->max_safe_effort_pan(angle_diff);
@@ -1087,11 +1087,11 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
try
{
- pan_tilt->pan->move_torque(eff);
+ pan_tilt->pan->move_pwm(eff);
}
catch (CException &e)
{
- std::cout << "\033[31m move pan torque Exception on checking_angle_limits: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m move pan pwm Exception on checking_angle_limits: " << e.what() << "\033[0m" << std::endl;
pan_tilt->stop();
throw;
}
@@ -1104,7 +1104,7 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
}
pan_tilt->get_checking_hysteresis_tilt(hyst_aux);
- if ((tilt_state == positive_torque) && (pos.tilt >= (pan_tilt->max_angle.tilt - hyst_aux)))
+ if ((tilt_state == positive_pwm) && (pos.tilt >= (pan_tilt->max_angle.tilt - hyst_aux)))
{
double angle_diff = pan_tilt->max_angle.tilt - pos.tilt;
double eff = pan_tilt->max_safe_effort_tilt(angle_diff);
@@ -1113,11 +1113,11 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
try
{
- pan_tilt->tilt->move_torque(eff);
+ pan_tilt->tilt->move_pwm(eff);
}
catch (CException &e)
{
- std::cout << "\033[31m move tilt torque Exception on checking_angle_limits: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m move tilt pwm Exception on checking_angle_limits: " << e.what() << "\033[0m" << std::endl;
pan_tilt->stop();
throw;
}
@@ -1128,7 +1128,7 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
// std::cout << "tilt out!" << std::endl;
// pan_tilt->print_pan_tilt_data(pos);
}
- else if ((tilt_state == negative_torque) && (pos.tilt <= (pan_tilt->min_angle.tilt + hyst_aux)))
+ else if ((tilt_state == negative_pwm) && (pos.tilt <= (pan_tilt->min_angle.tilt + hyst_aux)))
{
double angle_diff = pos.tilt - pan_tilt->min_angle.tilt;
double eff = pan_tilt->max_safe_effort_tilt(angle_diff);
@@ -1137,11 +1137,11 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
try
{
- pan_tilt->tilt->move_torque(eff);
+ pan_tilt->tilt->move_pwm(eff);
}
catch (CException &e)
{
- std::cout << "\033[31m move tilt torque Exception on checking_angle_limits: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m move tilt pwm Exception on checking_angle_limits: " << e.what() << "\033[0m" << std::endl;
pan_tilt->stop();
throw;
}
@@ -1153,7 +1153,7 @@ void *CDynamixel_Pan_Tilt::checking_angle_limits(void *arg)
// pan_tilt->print_pan_tilt_data(pos);
}
usleep(CHECKING_TIME_INTERVAL);
- pan_tilt->is_torque_moving(is_moving);
+ pan_tilt->is_pwm_moving(is_moving);
pan_tilt->get_moving_state_pan(pan_state);
pan_tilt->get_moving_state_tilt(tilt_state);
if (event_server->event_is_set(pan_tilt->exiting))
@@ -1177,7 +1177,7 @@ void CDynamixel_Pan_Tilt::stop(void)
{
this->pan->stop();
this->tilt->stop();
- reset_torque_moving_state();
+ reset_pwm_moving_state();
}
catch (CException &e)
{
@@ -1188,7 +1188,7 @@ void CDynamixel_Pan_Tilt::stop(void)
//Dynamixel_pan_tilt_data dat;
//dat.pan = 0.0;
//dat.tilt = 0.0;
- //move_torque(dat);
+ //move_pwm(dat);
//set_checking_hysteresis_pan(0.0);
//set_checking_hysteresis_tilt(0.0);
@@ -1217,13 +1217,13 @@ void CDynamixel_Pan_Tilt::update_config(void)
this->pan->get_position_range(&this->config.pan.min_angle, &this->config.pan.max_angle);
this->config.pan.max_temperature = this->pan->get_temperature_limit();
this->pan->get_voltage_limits(&this->config.pan.min_voltage, &this->config.pan.max_voltage);
- this->config.pan.max_torque = this->pan->get_max_torque();
+ this->config.pan.max_pwm = this->pan->get_max_pwm();
this->config.pan.punch = this->pan->get_punch();
this->tilt->get_position_range(&this->config.tilt.min_angle, &this->config.tilt.max_angle);
this->config.tilt.max_temperature = this->tilt->get_temperature_limit();
this->tilt->get_voltage_limits(&this->config.tilt.min_voltage, &this->config.tilt.max_voltage);
- this->config.tilt.max_torque = this->tilt->get_max_torque();
+ this->config.tilt.max_pwm = this->tilt->get_max_pwm();
this->config.tilt.punch = this->tilt->get_punch();
}
catch(CDynamixelAlarmException &e)
@@ -1344,7 +1344,7 @@ void CDynamixel_Pan_Tilt::default_parameters(void)
this->config.pan.max_temperature=0.0;
this->config.pan.max_voltage=0.0;
this->config.pan.min_voltage=0.0;
- this->config.pan.max_torque=0.0;
+ this->config.pan.max_pwm=0.0;
this->min_angle.pan=0.0;
this->max_angle.pan=0.0;
@@ -1370,10 +1370,10 @@ void CDynamixel_Pan_Tilt::default_parameters(void)
this->config.tilt.max_temperature=0.0;
this->config.tilt.max_voltage=0.0;
this->config.tilt.min_voltage=0.0;
- this->config.tilt.max_torque=0.0;
+ this->config.tilt.max_pwm=0.0;
this->min_angle.tilt=0.0;
this->max_angle.tilt=0.0;
- reset_torque_moving_state();
+ reset_pwm_moving_state();
set_checking_hysteresis_pan(0.0);
set_checking_hysteresis_tilt(0.0);
this->checking_hysteresis_slope.pan = 0.0;
@@ -1514,7 +1514,7 @@ void CDynamixel_Pan_Tilt::get_pan_tilt_config(Dynamixel_pan_tilt_config &config)
config.pan.max_temperature = this->config.pan.max_temperature;
config.pan.max_voltage = this->config.pan.max_voltage;
config.pan.min_voltage = this->config.pan.min_voltage;
- config.pan.max_torque = this->config.pan.max_torque;
+ config.pan.max_pwm = this->config.pan.max_pwm;
config.pan.punch = this->config.pan.punch;
config.tilt.max_angle = this->config.tilt.max_angle;
@@ -1522,7 +1522,7 @@ void CDynamixel_Pan_Tilt::get_pan_tilt_config(Dynamixel_pan_tilt_config &config)
config.tilt.max_temperature = this->config.tilt.max_temperature;
config.tilt.max_voltage = this->config.tilt.max_voltage;
config.tilt.min_voltage = this->config.tilt.min_voltage;
- config.tilt.max_torque = this->config.tilt.max_torque;
+ config.tilt.max_pwm = this->config.tilt.max_pwm;
config.tilt.punch = this->config.tilt.punch;
}
@@ -1551,7 +1551,7 @@ void CDynamixel_Pan_Tilt::get_pan_tilt_info(Dynamixel_pan_tilt_info &info)
info.tilt.id = this->info.tilt.id;
}
-void CDynamixel_Pan_Tilt::reset_torque_moving_state(void)
+void CDynamixel_Pan_Tilt::reset_pwm_moving_state(void)
{
pthread_mutex_lock(&(this->mut));
this->moving_state.pan = stopped;
@@ -1559,38 +1559,38 @@ void CDynamixel_Pan_Tilt::reset_torque_moving_state(void)
pthread_mutex_unlock(&(this->mut));
}
-void CDynamixel_Pan_Tilt::is_torque_moving(bool &b)
+void CDynamixel_Pan_Tilt::is_pwm_moving(bool &b)
{
pthread_mutex_lock(&(this->mut));
b = (this->moving_state.pan != stopped || this->moving_state.tilt != stopped);
pthread_mutex_unlock(&(this->mut));
}
-void CDynamixel_Pan_Tilt::set_moving_state_pan(Torque_moving_state tms)
+void CDynamixel_Pan_Tilt::set_moving_state_pan(Pwm_moving_state pms)
{
pthread_mutex_lock(&(this->mut));
- this->moving_state.pan = tms;
+ this->moving_state.pan = pms;
pthread_mutex_unlock(&(this->mut));
}
-void CDynamixel_Pan_Tilt::set_moving_state_tilt(Torque_moving_state tms)
+void CDynamixel_Pan_Tilt::set_moving_state_tilt(Pwm_moving_state pms)
{
pthread_mutex_lock(&(this->mut));
- this->moving_state.tilt = tms;
+ this->moving_state.tilt = pms;
pthread_mutex_unlock(&(this->mut));
}
-void CDynamixel_Pan_Tilt::get_moving_state_pan(Torque_moving_state &tms)
+void CDynamixel_Pan_Tilt::get_moving_state_pan(Pwm_moving_state &pms)
{
pthread_mutex_lock(&(this->mut));
- tms = this->moving_state.pan;
+ pms = this->moving_state.pan;
pthread_mutex_unlock(&(this->mut));
}
-void CDynamixel_Pan_Tilt::get_moving_state_tilt(Torque_moving_state &tms)
+void CDynamixel_Pan_Tilt::get_moving_state_tilt(Pwm_moving_state &pms)
{
pthread_mutex_lock(&(this->mut));
- tms = this->moving_state.tilt;
+ pms = this->moving_state.tilt;
pthread_mutex_unlock(&(this->mut));
}
@@ -1683,15 +1683,15 @@ Dynamixel_pan_tilt_data CDynamixel_Pan_Tilt::get_current_speed(void)
throw CDynamixel_Pan_TiltException(_HERE_,"The dynamixel pan&tilt is not properly configured. Speed not get");
}
-Dynamixel_pan_tilt_data CDynamixel_Pan_Tilt::get_current_effort(void)
+Dynamixel_pan_tilt_data CDynamixel_Pan_Tilt::get_current_pwm(void)
{
if (this->pan!=NULL && this->tilt!=NULL)
{
try
{
Dynamixel_pan_tilt_data data;
- data.pan = this->pan->get_current_effort();
- data.tilt = this->tilt->get_current_effort();
+ data.pan = this->pan->get_current_pwm();
+ data.tilt = this->tilt->get_current_pwm();
return data;
}
catch(CException &e)
@@ -1704,52 +1704,52 @@ Dynamixel_pan_tilt_data CDynamixel_Pan_Tilt::get_current_effort(void)
throw CDynamixel_Pan_TiltException(_HERE_,"The dynamixel pan&tilt is not properly configured. Effort not get");
}
- void CDynamixel_Pan_Tilt::set_max_torque(Dynamixel_pan_tilt_data &torque)
+ void CDynamixel_Pan_Tilt::set_max_pwm(Dynamixel_pan_tilt_data &pwm)
{
if (this->pan!=NULL && this->tilt!=NULL)
{
try
{
- this->pan->set_max_torque(torque.pan);
- this->pan->set_limit_torque(torque.pan);
- this->tilt->set_max_torque(torque.tilt);
- this->tilt->set_limit_torque(torque.tilt);
+ this->pan->set_max_pwm(pwm.pan);
+ this->pan->set_pwm_limit(pwm.pan);
+ this->tilt->set_max_pwm(pwm.tilt);
+ this->tilt->set_pwm_limit(pwm.tilt);
}
catch(CException &e)
{
- std::cout << "\033[31m Set max torque exception: " << e.what() << "\033[0m" << std::endl;
- torque.pan = this->pan->get_limit_torque();
- torque.tilt = this->tilt->get_limit_torque();
- throw CDynamixel_Pan_TiltException(_HERE_, "The dynamixel pan&tilt max torque hasn't been set properly.");
+ std::cout << "\033[31m Set max pwm exception: " << e.what() << "\033[0m" << std::endl;
+ pwm.pan = this->pan->get_pwm_limit();
+ pwm.tilt = this->tilt->get_pwm_limit();
+ throw CDynamixel_Pan_TiltException(_HERE_, "The dynamixel pan&tilt max pwm hasn't been set properly.");
}
}
else
{
- torque.pan = 0;
- torque.tilt = 0;
- throw CDynamixel_Pan_TiltException(_HERE_,"The dynamixel pan&tilt is not properly configured. Max torque not set");
+ pwm.pan = 0;
+ pwm.tilt = 0;
+ throw CDynamixel_Pan_TiltException(_HERE_,"The dynamixel pan&tilt is not properly configured. Max pwm not set");
}
}
-Dynamixel_pan_tilt_data CDynamixel_Pan_Tilt::get_limit_torque(void)
+Dynamixel_pan_tilt_data CDynamixel_Pan_Tilt::get_pwm_limit(void)
{
if (this->pan!=NULL && this->tilt!=NULL)
{
try
{
Dynamixel_pan_tilt_data data;
- data.pan = this->pan->get_limit_torque();
- data.tilt = this->tilt->get_limit_torque();
+ data.pan = this->pan->get_pwm_limit();
+ data.tilt = this->tilt->get_pwm_limit();
return data;
}
catch(CException &e)
{
- std::cout << "\033[31m Get limit torque exception: " << e.what() << "\033[0m" << std::endl;
+ std::cout << "\033[31m Get limit pwm exception: " << e.what() << "\033[0m" << std::endl;
throw;
}
}
else
- throw CDynamixel_Pan_TiltException(_HERE_,"The dynamixel pan&tilt is not properly configured. Torque limit not get");
+ throw CDynamixel_Pan_TiltException(_HERE_,"The dynamixel pan&tilt is not properly configured. pwm limit not get");
}
Dynamixel_pan_tilt_data CDynamixel_Pan_Tilt::get_max_angle_limit(void)
diff --git a/src/examples/test_dynamixel_pan_tilt.cpp b/src/examples/test_dynamixel_pan_tilt.cpp
index 9ff7e47be41d06a7ff13df5f79a4986ae84bcf71..dddf053b374ffa49ed74cd95cb5231eee7495187 100644
--- a/src/examples/test_dynamixel_pan_tilt.cpp
+++ b/src/examples/test_dynamixel_pan_tilt.cpp
@@ -80,7 +80,7 @@
* Done
*
*
- * ------------------------MOVE TORQUE--------------------------
+ * ------------------------MOVE pwm--------------------------
* Current angle: (-0.439883 , 0.146628)
* Desired effort: (-100 , -100)
* Moving...
@@ -111,7 +111,7 @@
* Done
*
*
- * ------------------------MOVE TORQUE--------------------------
+ * ------------------------MOVE pwm--------------------------
* Current angle: (94.5748 , 59.9707)
* Desired effort: (-90 , -90)
* Moving...
@@ -215,7 +215,7 @@ int main(int argc, char *argv[])
CDynamixel_Pan_Tilt::read_config(config_file, xml_limits);
pan_tilt->print_pan_tilt_data(xml_limits.max_angle);
pan_tilt->print_pan_tilt_data(xml_limits.min_angle);
- pan_tilt->print_pan_tilt_data(xml_limits.max_torque);
+ pan_tilt->print_pan_tilt_data(xml_limits.max_pwm);
//*/
@@ -227,7 +227,7 @@ int main(int argc, char *argv[])
double t;
double uperiod = time_interval*1000000.0/2.0;
double timeout = max_time_sec/time_interval;
- double torque_timeout = 85.0;
+ double pwm_timeout = 85.0;
desired_speed.pan = 354;
desired_speed.tilt = 354;
@@ -282,11 +282,11 @@ int main(int argc, char *argv[])
//*/
/////////////////////////////////////////////////////////////////////////
- ////MOVE TORQUE
+ ////MOVE pwm
/////////////////////////////////////////////////////////////////////////
///*
std::cout << std::endl << std::endl;
- std::cout << "------------------------MOVE TORQUE--------------------------" << std::endl;
+ std::cout << "------------------------MOVE pwm--------------------------" << std::endl;
desired_effort.pan = -100;
desired_effort.tilt = -100;
@@ -299,19 +299,19 @@ int main(int argc, char *argv[])
//pan_tilt->print_pan_tilt_data(desired_effort);
- pan_tilt->move_torque(desired_effort);
+ pan_tilt->move_pwm(desired_effort);
std::cout << "Moving..." << std::endl;
std::cout << "Moving effort: ";
pan_tilt->print_pan_tilt_data(desired_effort);
- //torque_timeout = 2.0;
+ //pwm_timeout = 2.0;
t=0.0;
- while(t<torque_timeout)
+ while(t<pwm_timeout)
{
//pos = pan_tilt->get_position();
//pan_tilt->print_current_position();
- // pan_tilt->move_torque(desired_effort);
+ // pan_tilt->move_pwm(desired_effort);
// pan_tilt->print_current_position();
usleep(uperiod);
t++;
@@ -384,11 +384,11 @@ int main(int argc, char *argv[])
//*/
/////////////////////////////////////////////////////////////////////////
- ////MOVE TORQUE
+ ////MOVE pwm
/////////////////////////////////////////////////////////////////////////
///*
std::cout << std::endl << std::endl;
- std::cout << "------------------------MOVE TORQUE--------------------------" << std::endl;
+ std::cout << "------------------------MOVE pwm--------------------------" << std::endl;
desired_effort.pan = -80;
desired_effort.tilt = -80;
@@ -400,16 +400,16 @@ int main(int argc, char *argv[])
std::cout << desired_effort;
//pan_tilt->print_pan_tilt_data(desired_effort);
- pan_tilt->move_torque(desired_effort);
+ pan_tilt->move_pwm(desired_effort);
std::cout << "Moving..." << std::endl;
std::cout << "Moving effort: ";
pan_tilt->print_pan_tilt_data(desired_effort);
- //torque_timeout = 45.0;
+ //pwm_timeout = 45.0;
t=0.0;
- while(t<torque_timeout)
+ while(t<pwm_timeout)
{
//pos = pan_tilt->get_position();
//pan_tilt->print_current_position();
@@ -430,7 +430,7 @@ int main(int argc, char *argv[])
//*/
std::cout << std::endl << std::endl;
- std::cout << "------------------------MOVE TORQUE--------------------------" << std::endl;
+ std::cout << "------------------------MOVE pwm--------------------------" << std::endl;
desired_effort.pan = 60;
desired_effort.tilt = 60;
@@ -442,16 +442,16 @@ int main(int argc, char *argv[])
std::cout << desired_effort;
//pan_tilt->print_pan_tilt_data(desired_effort);
- pan_tilt->move_torque(desired_effort);
+ pan_tilt->move_pwm(desired_effort);
std::cout << "Moving..." << std::endl;
std::cout << "Moving effort: ";
pan_tilt->print_pan_tilt_data(desired_effort);
- //torque_timeout = 45.0;
+ //pwm_timeout = 45.0;
t=0.0;
- while(t<torque_timeout)
+ while(t<pwm_timeout)
{
//pos = pan_tilt->get_position();
//pan_tilt->print_current_position();
@@ -471,7 +471,7 @@ int main(int argc, char *argv[])
sleep(1);
std::cout << std::endl << std::endl;
- std::cout << "------------------------MOVE TORQUE--------------------------" << std::endl;
+ std::cout << "------------------------MOVE pwm--------------------------" << std::endl;
desired_effort.pan = -40;
desired_effort.tilt = -40;
@@ -483,16 +483,16 @@ int main(int argc, char *argv[])
std::cout << desired_effort;
//pan_tilt->print_pan_tilt_data(desired_effort);
- pan_tilt->move_torque(desired_effort);
+ pan_tilt->move_pwm(desired_effort);
std::cout << "Moving..." << std::endl;
std::cout << "Moving effort: ";
pan_tilt->print_pan_tilt_data(desired_effort);
- //torque_timeout = 45.0;
+ //pwm_timeout = 45.0;
t=0.0;
- while(t<torque_timeout)
+ while(t<pwm_timeout)
{
//pos = pan_tilt->get_position();
//pan_tilt->print_current_position();
@@ -512,7 +512,7 @@ int main(int argc, char *argv[])
sleep(1);
std::cout << std::endl << std::endl;
- std::cout << "------------------------MOVE TORQUE--------------------------" << std::endl;
+ std::cout << "------------------------MOVE pwm--------------------------" << std::endl;
desired_effort.pan = 20;
desired_effort.tilt = 20;
@@ -524,16 +524,16 @@ int main(int argc, char *argv[])
std::cout << desired_effort;
//pan_tilt->print_pan_tilt_data(desired_effort);
- pan_tilt->move_torque(desired_effort);
+ pan_tilt->move_pwm(desired_effort);
std::cout << "Moving..." << std::endl;
std::cout << "Moving effort: ";
pan_tilt->print_pan_tilt_data(desired_effort);
- //torque_timeout = 45.0;
+ //pwm_timeout = 45.0;
t=0.0;
- while(t<torque_timeout)
+ while(t<pwm_timeout)
{
//pos = pan_tilt->get_position();
//pan_tilt->print_current_position();
diff --git a/src/xml/dyn_pan_tilt_config_AX12plus.xml b/src/xml/dyn_pan_tilt_config_AX12plus.xml
index 08f72b6a0c45133b2f4cf83d18e6068c0d4994fd..2e12a1e0183273db21cf7316bc522ca744754e64 100644
--- a/src/xml/dyn_pan_tilt_config_AX12plus.xml
+++ b/src/xml/dyn_pan_tilt_config_AX12plus.xml
@@ -7,7 +7,7 @@
<temp_limit>90</temp_limit>
<max_voltage>19</max_voltage>
<min_voltage>6</min_voltage>
- <max_torque>100</max_torque>
+ <max_pwm>100</max_pwm>
<cw_comp_margin>2</cw_comp_margin>
<ccw_comp_margin>2</ccw_comp_margin>
<cw_comp_slope>64</cw_comp_slope>
diff --git a/src/xml/dynamixel_pan_tilt_cfg_file.xsd b/src/xml/dynamixel_pan_tilt_cfg_file.xsd
index 7c4a23f54a3aab7ace5bb699e9556ac2905f626e..a35fcbcba94bc8d57d513a071126d76bd254958d 100644
--- a/src/xml/dynamixel_pan_tilt_cfg_file.xsd
+++ b/src/xml/dynamixel_pan_tilt_cfg_file.xsd
@@ -32,7 +32,7 @@ copyright : not copyrighted - public domain
</xsd:element>
<xsd:element name="min_voltage" type="xsd:float">
</xsd:element>
- <xsd:element name="max_torque" type="xsd:float" minOccurs="0" maxOccurs="2">
+ <xsd:element name="max_pwm" type="xsd:float" minOccurs="0" maxOccurs="2">
</xsd:element>
<xsd:element name="cw_comp_margin" type="xsd:unsignedByte" maxOccurs="2">
</xsd:element>