From e7310a030db0a06056dcf22a2c5560698315e7d4 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 10 Nov 2020 15:48:40 +0100
Subject: [PATCH] Use PWM mode for joint if no torque mode exists
---
.../RobotUnitModules/RobotUnitModuleUnits.cpp | 7 ++++++-
.../RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h | 11 +++++------
2 files changed, 11 insertions(+), 7 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
index 6865ebae8..d562fa2dc 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
@@ -190,7 +190,8 @@ namespace armarx::RobotUnitModule
const Ice::PropertiesPtr& properties,
const std::string& positionControlMode,
const std::string& velocityControlMode,
- const std::string& torqueControlMode
+ const std::string& torqueControlMode,
+ const std::string& pwmControlMode
)
{
ARMARX_TRACE;
@@ -278,6 +279,10 @@ namespace armarx::RobotUnitModule
init_controller(positionControlMode, ad.ctrlPos, (ControlTarget1DoFActuatorPosition*)0);
init_controller(velocityControlMode, ad.ctrlVel, (ControlTarget1DoFActuatorVelocity*)0);
init_controller(torqueControlMode, ad.ctrlTor, (ControlTarget1DoFActuatorTorque*)0);
+ if (!ad.ctrlTor)
+ {
+ init_controller(pwmControlMode, ad.ctrlTor, (ControlTarget1DoFActuatorPWM*)0);
+ }
if (ad.ctrlPos || ad.ctrlTor || ad.ctrlVel)
{
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h
index c099939eb..d2f4ee59c 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h
@@ -252,12 +252,11 @@ namespace armarx::RobotUnitModule
/// @brief Initializes the TcpControllerUnit
virtual void initializeTcpControllerUnit();
/// @brief Create the \ref KinematicUnit (this function should be called in \ref initializeKinematicUnit)
- ManagedIceObjectPtr createKinematicSubUnit(
- const Ice::PropertiesPtr& properties,
- const std::string& positionControlMode = ControlModes::Position1DoF,
- const std::string& velocityControlMode = ControlModes::Velocity1DoF,
- const std::string& torqueControlMode = ControlModes::Torque1DoF
- );
+ ManagedIceObjectPtr createKinematicSubUnit(const Ice::PropertiesPtr& properties,
+ const std::string& positionControlMode = ControlModes::Position1DoF,
+ const std::string& velocityControlMode = ControlModes::Velocity1DoF,
+ const std::string& torqueControlMode = ControlModes::Torque1DoF,
+ const std::string& pwmControlMode = ControlModes::PWM1DoF);
/**
* @brief Registers a unit for management (the Unit is added and removed to the \ref ArmarXManager
* and updated with new values.
--
GitLab