Allow to change to torque control mode by rafaelxero · Pull Request #1326 · fkanehiro/hrpsys-base

Commits on Feb 3, 2023

Still trying to fix ModifiedServo [WIP]
rafaelxero
committed
Changed ModifiedServo to look more like PDcontroller [WIP]
rafaelxero
committed
Several versions of ModifiedServo [WIP]
rafaelxero
committed
Added torqueControlMode to RobotHardware
rafaelxero
committed
Excluded torque-controlled joints from the checkEmergency test for the maximum difference between angle and command, and added test for the torque
rafaelxero
committed
Removed test for the torque because at the end it gets saturated to the maximum values
rafaelxero
committed
Corrected typo
rafaelxero
committed
Added check for the joint values to be inside of the joint range and a check if a new tauRef does not delay for more than a number of cycles
rafaelxero
committed
Added resetJointControlMode and deactivated the previous security protection
rafaelxero
committed
Added allowTorqueControlMode
rafaelxero
committed
Commented out the messages that are displayed when changing the joint control mode, and fixed some typos
rafaelxero
committed
Deleted isJointTorqueControlModeUsed
rafaelxero
committed
Added write_llimit_angle and write_ulimit_angle to iob.h
rafaelxero
committed
Used m_ for the member variables of ModifiedServo
rafaelxero
committed
Changed intermediate qRef into qCom in ModifiedServo
rafaelxero
committed
Removed some test versions of ModifiedServo
rafaelxero
committed
Removed ModifiedServo-original
rafaelxero
committed
Removed commented out functions that I had moved to iob level and commented out a protection for the current angles that causes problems
rafaelxero
committed
Had missed to erase commented out code
rafaelxero
committed
Had missed to erase more commented out code
rafaelxero
committed
Brought ModifiedServo as it is from master
rafaelxero
committed

Commits on Feb 6, 2023

Deleted unused functions: checkJointActualValues and resetJointControlMode
rafaelxero
committed

Commits on Feb 7, 2023

Commits on Feb 20, 2023

Further minimized diff
rafaelxero
committed

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Allow to change to torque control mode#1326

Allow to change to torque control mode#1326
rafaelxero wants to merge 26 commits intofkanehiro:masterfrom
rafaelxero:PosTorqueCtrl-rebase

Commits on Feb 3, 2023

Still trying to fix ModifiedServo [WIP]

Changed ModifiedServo to look more like PDcontroller [WIP]

Several versions of ModifiedServo [WIP]

Added torqueControlMode to RobotHardware

Excluded torque-controlled joints from the checkEmergency test for the maximum difference between angle and command, and added test for the torque

Removed test for the torque because at the end it gets saturated to the maximum values

Corrected typo

Added check for the joint values to be inside of the joint range and a check if a new tauRef does not delay for more than a number of cycles

Added resetJointControlMode and deactivated the previous security protection

Added allowTorqueControlMode

Commented out the messages that are displayed when changing the joint control mode, and fixed some typos

Deleted isJointTorqueControlModeUsed

Added write_llimit_angle and write_ulimit_angle to iob.h

Used m_ for the member variables of ModifiedServo

Changed intermediate qRef into qCom in ModifiedServo

Removed some test versions of ModifiedServo

Removed ModifiedServo-original

Removed commented out functions that I had moved to iob level and commented out a protection for the current angles that causes problems

Had missed to erase commented out code

Had missed to erase more commented out code

Brought ModifiedServo as it is from master

Commits on Feb 6, 2023

Deleted unused functions: checkJointActualValues and resetJointControlMode

Commits on Feb 7, 2023

Removed the flag allowTorqueControlMode as it is not used anymore

Reduced diff, removed unnecessary comments and uncommented messages to avoid changing current behavior

Removed functions write_llimit_angle and write_ulimit_angle as they are not safe

Commits on Feb 20, 2023

Further minimized diff

Allow to change to torque control mode#1326rafaelxero wants to merge 26 commits intofkanehiro:masterfkanehiro/hrpsys-base:masterfrom rafaelxero:PosTorqueCtrl-rebaserafaelxero/hrpsys-base:PosTorqueCtrl-rebaseCopy head branch name to clipboard

Commits

Commits on Feb 3, 2023

Commits on Feb 6, 2023

Commits on Feb 7, 2023

Commits on Feb 20, 2023

Allow to change to torque control mode#1326
rafaelxero wants to merge 26 commits intofkanehiro:masterfrom
rafaelxero:PosTorqueCtrl-rebase