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Commit 02d08ef4 authored by Andre Meixner's avatar Andre Meixner :camera:
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Added torqueFactor and torqueOffset for hardware config of elbow roll joint for ARMAR-7

parent 1747dfc1
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......@@ -29,8 +29,10 @@ namespace devices::ethercat::sensor_actor_unit::armar7_wrist::sensor_board
voltageRef(hwConfig.getFloat("elbowTorque.voltage_ref")),
sensitivity(hwConfig.getFloat("elbowTorque.sensitivity")),
voltageSupplied(hwConfig.getFloat("elbowTorque.voltage_supply")),
voltageFactor(hwConfig.getMatrix<float, 4, 1>("elbowTorque.factor")),
voltageOffset(hwConfig.getMatrix<float, 4, 1>("elbowTorque.offset")),
voltageFactor(hwConfig.getMatrix<float, 4, 1>("elbowTorque.voltage_factor")),
voltageOffset(hwConfig.getMatrix<float, 4, 1>("elbowTorque.voltage_offset")),
torqueFactor(hwConfig.getFloat("elbowTorque.torque_factor")),
torqueOffset(hwConfig.getFloat("elbowTorque.torque_offset")),
temperature(hwConfig.getLinearConfig("elbowTorque.temperature"))
{
}
......
......@@ -56,6 +56,9 @@ namespace devices::ethercat::sensor_actor_unit::armar7_wrist::sensor_board
Eigen::Matrix<float, NUM_VALUES, 1> voltageFactor;
Eigen::Matrix<float, NUM_VALUES, 1> voltageOffset;
float torqueFactor;
float torqueOffset;
hwconfig::types::LinearConfig temperature;
};
......
......@@ -261,6 +261,8 @@ namespace devices::ethercat::sensor_actor_unit::armar7_wrist::sensor_board
unAmplifiedVoltageToTorqueFactor(1 / (config.sensitivity * config.voltageSupplied)),
voltageFactor(config.voltageFactor),
voltageOffset(config.voltageOffset),
torqueFactor(config.torqueFactor),
torqueOffset(config.torqueOffset),
slaveOut(slaveOut),
torqueTicks(Veci::Zero()),
unAmplifiedVoltage(Vecf::Zero()),
......@@ -315,7 +317,7 @@ namespace devices::ethercat::sensor_actor_unit::armar7_wrist::sensor_board
float
ElbowTorqueData::getActualTorque() const
{
return torques.mean() +2.75; // HACK FIXME REMOVE
return torqueFactor * torques.mean() + torqueOffset;
}
std::int32_t
......
......@@ -159,6 +159,8 @@ namespace devices::ethercat::sensor_actor_unit::armar7_wrist::sensor_board
const float unAmplifiedVoltageToTorqueFactor;
const Vecf voltageFactor;
const Vecf voltageOffset;
const float torqueFactor;
const float torqueOffset;
sensor_board::SlaveOut* slaveOut;
......
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