Revision d3aa8ab3
| examples/yarp_icub/src/icub_jointinterface.cpp | ||
|---|---|---|
| 168 | 168 |
//! \param id of joint |
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//! \param float value of position |
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void iCubJointInterface::store_icub_joint_target(int icub_id, float position, float velocity) {
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printf("> set icub joint %d -> p = %f, v = %f\n",icub_id,position,velocity);
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cout << "store_icub_joint_target(" << icub_id << ", " << position << ", ..)\n";
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if (icub_id == ICUB_ID_NECK_PAN) {
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// icub uses an inverted neck pan specification |
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position = -position; |
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velocity = -velocity; |
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} |
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// store values |
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target_angle_[icub_id] = position; |
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target_velocity_[icub_id] = velocity; |
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} |
| ... | ... | |
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+ pv_mix_pid_p_[icub_id]*error_d |
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+ target_velocity; |
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printf("%f %f %f %f %f %f PID%d\n",
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get_ts_position(humotion_id).get_interpolated_value(data_ts), |
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target_angle_[icub_id], |
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123.4, //NOT USED ANYMORE//get_ts_speed(humotion_id).get_interpolated_value(data_ts), |
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pv_mix_velocity, |
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target_velocity, |
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position_error, |
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icub_id |
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); |
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cout << "\n" |
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<< get_ts_position(humotion_id).get_interpolated_value(data_ts) << " " |
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<< target_angle_[icub_id] << " " |
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<< 123.4 << " " |
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<< pv_mix_velocity << " " |
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<< target_velocity << " " |
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<< position_error << " " |
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<< icub_id << " PID\n"; |
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// execute velocity move |
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yarp_ivel_->velocityMove(icub_id, pv_mix_velocity); |
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