Potential mismatch between target current and target torque in Elmo IO & config
I found this line here in the ELMO configuration. Note the mismatch between current and torque:
targetCurrent(config.getLinearConfig("targetTorque")),
That setting is then apparently used like this here (note again a mismatch with the naming of the slave input)
targetCurrent.init(&elmo_in->targetTorque,
elmo_config.targetCurrent,
std::nanf(""),
true,
"targetCurrent");
However, it is exported by Data
as target current here
void
Data::setTargetCurrent(float target)
{
targetCurrent.value = target;
}
...
float
Data::getTargetCurrent() const
{
return targetCurrent.value;
}
In my QtCreator, I did not find usages for these two functions, though (I had devices_ethercat
, armarx_control
and armar7_rt
open, but not ARMAR-6 or ARMAR-DE related projects).
Do you think this is a problem, i.e. torque values (from the Slave) being used/interpreted/reported as currents? Or is it just a naming issue and the values are not used anyway?
@dreher @hahiho @fabian.reister
Edited by Rainer Kartmann