[Rock-dev] make moving speed configurable in orogen-servo_dynamixel / dynamixel

[Jakob Schwendner]

Hi Dennis,

 

I already envisaged this scenario when I wrote the module, but did not completely implement it.

There is a type in base, which is called base::JointLimits, which I wrote so that you could set the software limits in modules like e.g. the servo dynamixel.

I my oppinion, here is what you should do to get what you want:

-          Add a “joint_limits” property to the servo_dynamixel module, of the typee base::JointLimits

-          Set the moving_speed and the torque limit in the configure hook according to the limits in your property. Assume max value if there are no limits given for the joints.

-          On each command that you receive, you can run a validate over the limits, to check if your input values are fine. I guess it would be good to have it configurable to what should happen if there are not (e.g. throw, warn, or whatever)

The JointLimits has never been used before I think. It may have some rough edges… Let me know if you are unsure about certain things, or want to change something.

 

Cheers,

 

Jakob

 

 

From: rock-dev-bounces at dfki.de [mailto:rock-dev-bounces at dfki.de] On Behalf Of Dennis Mronga
Sent: Mittwoch, 11. Dezember 2013 11:37
To: rock-dev at dfki.de
Subject: [Rock-dev] make moving speed configurable in orogen-servo_dynamixel / dynamixel

 

Hi, 

  

I would like to have the possibility to set the moving speed of a servo at configuration time. Right now it is set to 1023 by default and has to be changed via the command input port, which does not fit our needs. Same goes for the torque limit. 

  

If there are no objections, I would like to add two new members "moving_speed" and "torque_limit"  to  ServoConfiguration and make the respective changes in the orogen component 

  

Best, 

Dennis 

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