Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Feature/communication values #87

Merged
merged 3 commits into from
Jan 26, 2022
Merged

Feature/communication values #87

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
a9e25f7
uppdate the raw hall sensor values to compute the precise joint angles
kouroshD Jan 21, 2022
ee5bedd
update the writeStrict option for wearable device haptic feedback to …
kouroshD Jan 21, 2022
2b5b759
update the remoteControlBoard writeStrict option to the feault one in…
kouroshD Jan 21, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions app/robots/iCubGenova09/rightFingersHapticRetargetingParams.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -110,8 +110,8 @@ referenceVelocityForPositionControl 100.0
analog_joints_min_boundary ( 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 )
analog_joints_max_boundary ( 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 90.0 )

analog_sensors_raw_min_boundary ( 166.0 255.0 255.0 255.0 255.0 255.0 197.0 254.0 255.0 250.0 255.0 255.0 249.0 236.0 248.0 )
analog_sensors_raw_max_boundary ( 26.0 0.0 37.0 15.0 24.0 12.0 0.0 0.0 0.0 40.0 0.0 0.0 0.0 30.0 0.0 )
analog_sensors_raw_min_boundary ( 255.0 255.0 255.0 255.0 255.0 225.0 255.0 255.0 255.0 250.0 255.0 255.0 249.0 255.0 255.0 )
analog_sensors_raw_max_boundary ( 26.0 0.0 37.0 15.0 24.0 0.0 0.0 0.0 0.0 30.0 0.0 0.0 0.0 30.0 0.0 )

# in case each joint does not have independant motor to actuate, they are coupled
axesJointsCoupled 1
Expand Down
6 changes: 4 additions & 2 deletions modules/HapticGlove_module/src/GloveWearable.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -354,7 +354,8 @@ bool GloveWearableImpl::setFingertipForceFeedbackValues(const std::vector<int>&
wearableActuatorCommand.info.status = wearable::msg::ActuatorStatus::OK;
wearableActuatorCommand.duration = 0;

m_iWearActuatorPort.write(false);
m_iWearActuatorPort.write(true); // writeStrict option for wearable haptic device should be
// set to true to avoid the data loss for all actuators
}
return true;
}
Expand Down Expand Up @@ -385,7 +386,8 @@ bool GloveWearableImpl::setFingertipVibrotactileValues(const std::vector<int>& v
wearableActuatorCommand.info.status = wearable::msg::ActuatorStatus::OK;
wearableActuatorCommand.duration = 0;

m_iWearActuatorPort.write(false);
m_iWearActuatorPort.write(true); // writeStrict option for wearable haptic device should be
// set to true to avoid the data loss for all actuators
}

return true;
Expand Down
3 changes: 2 additions & 1 deletion modules/HapticGlove_module/src/RobotInterface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -339,7 +339,8 @@ bool RobotInterface::openRobotDevices(const yarp::os::Searchable& config,
optionsRobotDevice.put("localPortPrefix", "/" + name + "/remoteControlBoard");
yarp::os::Property& remoteControlBoardsOpts
= optionsRobotDevice.addGroup("REMOTE_CONTROLBOARD_OPTIONS");
remoteControlBoardsOpts.put("writeStrict", "off");
// remoteControlBoardsOpts.put("writeStrict", "off"); // keeping the default writeStrict option
// for communicating with the robot

// open the device
if (!m_robotDevice.open(optionsRobotDevice) && m_isMandatory)
Expand Down