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Endless Turn Mode Support #15

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Endless Turn Mode Support #15

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b50d731
Endless Turn Mode Support
ysuga Mar 23, 2014
bf170cf
Speed can be zero when Endless Turn Mode
ysuga Mar 23, 2014
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16 changes: 12 additions & 4 deletions dynamixel_controllers/src/dynamixel_controllers/joint_position_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -112,10 +112,18 @@ def pos_rad_to_raw(self, pos_rad):
return self.rad_to_raw(pos_rad, self.initial_position_raw, self.flipped, self.ENCODER_TICKS_PER_RADIAN)

def spd_rad_to_raw(self, spd_rad):
if spd_rad < self.MIN_VELOCITY: spd_rad = self.MIN_VELOCITY
elif spd_rad > self.joint_max_speed: spd_rad = self.joint_max_speed
# velocity of 0 means maximum, make sure that doesn't happen
return max(1, int(round(spd_rad / self.VELOCITY_PER_TICK)))
if self.max_angle_raw == 0.0 and self.min_angle_raw == 0.0: # Endless Turn Mode
direction_flag = 0x0000 # Used when Endless Turn Mode
if spd_rad < 0:
direction_flag = 0x0400
spd_rad = -spd_rad
if spd_rad > self.joint_max_speed: spd_rad = self.joint_max_speed
return direction_flag | int(round(spd_rad / self.VELOCITY_PER_TICK))
else:
if spd_rad < self.MIN_VELOCITY: spd_rad = self.MIN_VELOCITY # In Endless Mode, Minimum speed is zero
elif spd_rad > self.joint_max_speed: spd_rad = self.joint_max_speed
# velocity of 0 means maximum, make sure that doesn't happen
return max(1, int(round(spd_rad / self.VELOCITY_PER_TICK)))

def set_torque_enable(self, torque_enable):
mcv = (self.motor_id, torque_enable)
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