Revision 55a4b313

View differences:

examples/yarp_icub/src/icub_data_receiver.cpp
36 36 
    for(int i=0; i<positions.size(); i++){
37 37 
        icub_jointinterface->fetch_position(i, positions[i], timestamps[i]);
38 38 
        icub_jointinterface->fetch_speed(i, velocities[i], timestamps[i]);
39 
        if (i==iCubJointInterface::ICUB_ID_NECK_PAN){
40 
            printf("\nMMM p=%f v=%f\n",positions[i],velocities[i]);
41 
        }
39 42 
    }
40 43 

  		




  41
  44
  
    
    //printf("\n%f %f %f TIME\n", get_timestamp_ms(), timestamps[2], positions[2]);


  		












  

    
      examples/yarp_icub/src/icub_jointinterface.cpp
    
  





  254
  254
  
    
        printf("%f %f %f %f %f %f PID%d\n",


  		




  255
  255
  
    
               get_ts_position(e).get_interpolated_value(data_ts),


  		




  256
  256
  
    
               target_angle[id],


  		




  257
  
  
    
               get_ts_speed(e).get_interpolated_value(data_ts),


  		




  
  257
  
    
               get_ts_speed(e).get_interpolated_value(data_ts), speed now is zERO?!?!?


  		




  
  258
  
    
                                                                                        speed pan is inverted??


  		




  258
  259
  
    
               target_velocity,


  		




  259
  260
  
    
               speed,


  		




  260
  261
  
    
               position_error,


  		












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