Revision b0d48d96 examples/meka/src/mekajointinterface.cpp

View differences:

examples/meka/src/mekajointinterface.cpp
34 34 
                return;
35 35 
            }
36 36 
            //ok, safe to access data
37 
            JointInterface::store_incoming_position(id, 180.0 / M_PI * msg.position[i], timestamp);
38 
            JointInterface::store_incoming_speed(   id, 180.0 / M_PI * msg.velocity[i], timestamp);
37 
            if (id == ID_NECK_PAN){
38 
                //joint is inverted
39 
                JointInterface::store_incoming_position(id, -180.0 / M_PI * msg.position[i], timestamp);
40 
                JointInterface::store_incoming_speed(   id, -180.0 / M_PI * msg.velocity[i], timestamp);
41 
            }else if (id == ID_NECK_TILT){
42 
                JointInterface::store_incoming_position(id, 180.0 / M_PI * msg.position[i], timestamp);
43 
                JointInterface::store_incoming_speed(   id, 180.0 / M_PI * msg.velocity[i], timestamp);
44 
            }
39 45 
        }
40 46 
    }
41 47 

  		












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