From cf14b4163227436aa1b64528d55739c8f438d79a Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit.edu>
Date: Fri, 17 Nov 2023 18:24:32 +0100
Subject: [PATCH] comment out the log messages in rt
Signed-off-by: jianfeng <jianfeng.gao@kit.edu>
---
.../VelocityManipulatingTorque.cpp | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/source/armarx/control/joint_controller/VelocityManipulatingTorque.cpp b/source/armarx/control/joint_controller/VelocityManipulatingTorque.cpp
index f2227876..f2cd658c 100644
--- a/source/armarx/control/joint_controller/VelocityManipulatingTorque.cpp
+++ b/source/armarx/control/joint_controller/VelocityManipulatingTorque.cpp
@@ -145,7 +145,7 @@ namespace armarx::control::joint_controller
pid.maxDerivation = 30; // avoids rapid oscillation of pid controller
pid.setMaxControlValue(torqueConfigData->pid_max_value);
- ARMARX_INFO << "PID max value: " << torqueConfigData->pid_max_value;
+ // ARMARX_INFO << "PID max value: " << torqueConfigData->pid_max_value;
targetTorque = math::MathUtils::LimitTo(targetTorque, torqueConfigData->maxTargetTorque);
double decay = torqueConfigData->decay;
@@ -219,14 +219,14 @@ namespace armarx::control::joint_controller
double directControlCurrent = 0.;//gravity * torqueToCurrentFactor * 1000;
- ARMARX_RT_LOGF_INFO("direct-control: %.3f, currentTargetVelocity: %.3f, current Vel: %.3f, g-torque: %.2f, actual torque: %.2f, "
- "torqueDiff: %.3f, target torque: %.2f, acc: %.3f, target current: %.3f, Kp: %.1f, Ki: %.1f, cur Integral: %.4f, "
- "Kd: %0.2f, pid MaxVal: %.2f, a-gain: %.2f, current jerk: %.2f, deadZone: %.1f, decay: %.4f"
- ,
- directControlCurrent, currentTargetVelocity, actualVelocity, gravity, actualTorque,
- gravityCompensatedTorque, targetTorque, acceleration,
- resultingTargetCurrent, pid.Kp, pid.Ki, pid.integral, pid.Kd, pid.maxControlValue,
- accelerationGain, lastJerk, deadZone, decay).deactivateSpam(0.3);
+ // ARMARX_RT_LOGF_INFO("direct-control: %.3f, currentTargetVelocity: %.3f, current Vel: %.3f, g-torque: %.2f, actual torque: %.2f, "
+ // "torqueDiff: %.3f, target torque: %.2f, acc: %.3f, target current: %.3f, Kp: %.1f, Ki: %.1f, cur Integral: %.4f, "
+ // "Kd: %0.2f, pid MaxVal: %.2f, a-gain: %.2f, current jerk: %.2f, deadZone: %.1f, decay: %.4f"
+ // ,
+ // directControlCurrent, currentTargetVelocity, actualVelocity, gravity, actualTorque,
+ // gravityCompensatedTorque, targetTorque, acceleration,
+ // resultingTargetCurrent, pid.Kp, pid.Ki, pid.integral, pid.Kd, pid.maxControlValue,
+ // accelerationGain, lastJerk, deadZone, decay).deactivateSpam(0.3);
// calculate a current that protects the joint limits
auto jointLimitProtectionCurrent =
--
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