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<div class="moz-cite-prefix">On 11.12.2013 12:01, Jakob Schwendner
wrote:<br>
</div>
<blockquote cite="mid:008d01cef660$68441a30$38cc4e90$@dfki.de"
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<div class="WordSection1">
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">Hi Dennis,<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">I already envisaged this scenario when I wrote
the module, but did not completely implement it.<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">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.</span></p>
</div>
</blockquote>
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<br>
<blockquote cite="mid:008d01cef660$68441a30$38cc4e90$@dfki.de"
type="cite">
<div class="WordSection1">
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">I my oppinion, here is what you should do to
get what you want:<o:p></o:p></span></p>
<p class="MsoListParagraph"
style="text-indent:-18.0pt;mso-list:l0 level1 lfo1"><!--[if !supportLists]--><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><span style="mso-list:Ignore">-<span
style="font:7.0pt "Times New Roman"">
</span></span></span><!--[endif]--><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">Add a “joint_limits” property to the
servo_dynamixel module, of the typee base::JointLimits<o:p></o:p></span></p>
<p class="MsoListParagraph"
style="text-indent:-18.0pt;mso-list:l0 level1 lfo1"><!--[if !supportLists]--><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><span style="mso-list:Ignore">-<span
style="font:7.0pt "Times New Roman"">
</span></span></span><!--[endif]--><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">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.<o:p></o:p></span></p>
<p class="MsoListParagraph"
style="text-indent:-18.0pt;mso-list:l0 level1 lfo1"><!--[if !supportLists]--><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><span style="mso-list:Ignore">-<span
style="font:7.0pt "Times New Roman"">
</span></span></span><!--[endif]--><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">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)</span></p>
</div>
</blockquote>
<blockquote cite="mid:008d01cef660$68441a30$38cc4e90$@dfki.de"
type="cite">
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<p class="MsoListParagraph"
style="text-indent:-18.0pt;mso-list:l0 level1 lfo1"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">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.<o:p></o:p></span></p>
</div>
</blockquote>
OK<br>
<blockquote cite="mid:008d01cef660$68441a30$38cc4e90$@dfki.de"
type="cite">
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<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">Cheers,<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">Jakob<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span><br>
</p>
</div>
</blockquote>
<br>
<blockquote cite="mid:008d01cef660$68441a30$38cc4e90$@dfki.de"
type="cite">
<div class="WordSection1">
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Tahoma","sans-serif""
lang="EN-US">From:</span></b><span
style="font-size:10.0pt;font-family:"Tahoma","sans-serif""
lang="EN-US"> <a class="moz-txt-link-abbreviated" href="mailto:rock-dev-bounces@dfki.de">rock-dev-bounces@dfki.de</a>
[<a class="moz-txt-link-freetext" href="mailto:rock-dev-bounces@dfki.de">mailto:rock-dev-bounces@dfki.de</a>] <b>On Behalf Of </b>Dennis
Mronga<br>
<b>Sent:</b> Mittwoch, 11. Dezember 2013 11:37<br>
<b>To:</b> <a class="moz-txt-link-abbreviated" href="mailto:rock-dev@dfki.de">rock-dev@dfki.de</a><br>
<b>Subject:</b> [Rock-dev] make moving speed
configurable in orogen-servo_dynamixel / dynamixel<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<div>
<p class="MsoNormal">Hi, <o:p></o:p></p>
</div>
<div>
<p class="MsoNormal"> <o:p></o:p></p>
</div>
<div>
<p class="MsoNormal">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. <o:p></o:p></p>
</div>
<div>
<p class="MsoNormal"> <o:p></o:p></p>
</div>
<div>
<p class="MsoNormal">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 <o:p></o:p></p>
</div>
<div>
<p class="MsoNormal"> <o:p></o:p></p>
</div>
<div>
<p class="MsoNormal">Best, <o:p></o:p></p>
</div>
<div>
<p class="MsoNormal">Dennis <o:p></o:p></p>
</div>
</div>
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</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
Dipl.-Ing. Dennis Mronga
Researcher
Hauptgeschäftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-6560
Zentrale: +49 421 178 45-4100
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:dennis.mronga@dfki.de">dennis.mronga@dfki.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
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