From f5d63f6a97fd1da7220180d3adf647f849b71c5f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Thu, 4 Jun 2015 08:15:10 +0000
Subject: [PATCH] Removed the acceleration from the move functions because the
controller can not directly control it.
---
src/examples/test_ptu_d46.cpp | 6 +++---
src/ptu_d46.cpp | 4 ++--
src/ptu_d46.h | 4 ++--
3 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/src/examples/test_ptu_d46.cpp b/src/examples/test_ptu_d46.cpp
index 00410f3..24c3000 100755
--- a/src/examples/test_ptu_d46.cpp
+++ b/src/examples/test_ptu_d46.cpp
@@ -11,7 +11,7 @@ std::string serial_dev="/dev/ttyUSB0";
int main(int argc, char * argv[])
{
CPTUD46 controller(cont_name);
- std::vector<double> pos(2),vel(2),accel(2);
+ std::vector<double> pos(2),vel(2);
int count=0,i=0;
try{
@@ -31,14 +31,14 @@ int main(int argc, char * argv[])
for(count=0;count<3;count++)
{
count++;
- controller.move_absolute_angle(pos,vel,accel);
+ controller.move_absolute_angle(pos,vel);
sleep(2);
}
pos[0]=-pos[0];
for(count=0;count<3;count++)
{
count++;
- controller.move_absolute_angle(pos,vel,accel);
+ controller.move_absolute_angle(pos,vel);
sleep(2);
}
}
diff --git a/src/ptu_d46.cpp b/src/ptu_d46.cpp
index 69c39b0..c2588d3 100755
--- a/src/ptu_d46.cpp
+++ b/src/ptu_d46.cpp
@@ -440,7 +440,7 @@ unsigned int CPTUD46::get_num_motors(void)
return 2;
}
-void CPTUD46::move_absolute_angle(std::vector<double>& position, std::vector<double>& velocity, std::vector<double> &accel)
+void CPTUD46::move_absolute_angle(std::vector<double>& position, std::vector<double>& velocity)
{
std::vector<short int> position_cont(2),velocity_cont(2);
unsigned char status;
@@ -487,7 +487,7 @@ void CPTUD46::move_absolute_angle(std::vector<double>& position, std::vector<dou
}
}
-void CPTUD46::move_relative_angle(std::vector<double>& position, std::vector<double>& velocity, std::vector<double> &accel)
+void CPTUD46::move_relative_angle(std::vector<double>& position, std::vector<double>& velocity)
{
std::vector<short int> position_cont(2),velocity_cont(2);
std::vector<double> target_pos(2);
diff --git a/src/ptu_d46.h b/src/ptu_d46.h
index ed90d36..d443e89 100755
--- a/src/ptu_d46.h
+++ b/src/ptu_d46.h
@@ -152,12 +152,12 @@ class CPTUD46
* \brief
*
*/
- void move_absolute_angle(std::vector<double>& position, std::vector<double>& velocity,std::vector<double> &accel);
+ void move_absolute_angle(std::vector<double>& position, std::vector<double>& velocity);
/**
* \brief
*
*/
- void move_relative_angle(std::vector<double>& position, std::vector<double>& velocity,std::vector<double> &accel);
+ void move_relative_angle(std::vector<double>& position, std::vector<double>& velocity);
/**
* \brief
*
--
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