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

[Dennis Mronga]

On 11.12.2013 12:01, Jakob Schwendner wrote:
>
> 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.
>
You're right. I think using the joint limits type is the right way to do 
it.We already used it in a couple of components and it seems to work fine
>
> 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.
>
OK
>
> 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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  Dipl.-Ing. Dennis Mronga
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