caperren/osurc_mars_rover_2017_2018
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Changed settings for base and shoulder ionis so they maintin absolute position through reboots. Tested and working.

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This commit is contained in:
Corwin Perren
2018-08-02 13:34:17 -07:00
parent ce774c736a
commit d62fdd45b3
3 changed files with 37 additions and 31 deletions
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18
software/ros_packages/rover_arm/src/rover_arm.cpp
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@@ -54,7 +54,9 @@ public:
void run(){
char dir = 0;
printf("OK?: %d", ros::ok());
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 0);
while(ros::ok()){
smSetParameter(arm_bus_handle, device_address, SMP_FAULTS, 0);
@@ -86,18 +88,22 @@ public:
dir = !dir;
if(dir){
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, -50000);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, -50000);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, -50000);
}else{
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 50000);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 300000);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 250000);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 50000);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 50000);
}
ros::spinOnce();
}
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 0);
ROS_ERROR("Shutting down.");
}
private: