Revision 21444915 src/server/neck_motion_generator.cpp

View differences:

src/server/neck_motion_generator.cpp
151 151 
    reflexxes_calculate_profile();
152 152 

  		




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    //tell the joint if about the new values:


  		




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    joint_interface->set_target_position(JointInterface::ID_NECK_PAN,  reflexxes_position_output->NewPositionVector->VecData[0]);


  		




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    joint_interface->set_target_position(JointInterface::ID_NECK_TILT, reflexxes_position_output->NewPositionVector->VecData[1]);


  		




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    joint_interface->set_target_position(JointInterface::ID_NECK_ROLL, reflexxes_position_output->NewPositionVector->VecData[2]);


  		




  
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    joint_interface->set_target_position(JointInterface::ID_NECK_PAN,


  		




  
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                                         reflexxes_position_output->NewPositionVector->VecData[0],


  		




  
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                                         reflexxes_position_output->NewVelocityVector->VecData[0]);


  		




  
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    joint_interface->set_target_position(JointInterface::ID_NECK_TILT,


  		




  
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                                         reflexxes_position_output->NewPositionVector->VecData[1],


  		




  
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                                         reflexxes_position_output->NewVelocityVector->VecData[1]);


  		




  
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    joint_interface->set_target_position(JointInterface::ID_NECK_ROLL,


  		




  
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                                         reflexxes_position_output->NewPositionVector->VecData[2],


  		




  
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                                         reflexxes_position_output->NewVelocityVector->VecData[2]);


  		




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}


  		




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//! publish targets to motor boards:


  		




  ......




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    if (max_accel>1000){


  		




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        max_accel = 1000;


  		




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    }


  		




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    ///printf("MAX SPEED %4.2f / max accel %4.2f\n",max_speed, max_accel);


  		




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    //feed reflexxes api with data


  		




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    reflexxes_set_input(dof, target, max_speed, max_accel);


  		




  
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    reflexxes_set_input(dof, target, now, max_speed, max_accel);


  		




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}


  		












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