From 18fa7d694118750772bf461fd37d78177e20ff83 Mon Sep 17 00:00:00 2001
From: Martin Do <martin.do@kit.edu>
Date: Fri, 10 Jul 2015 16:06:07 +0200
Subject: [PATCH] Torque values modified
---
.../KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 1a775a56f..aebf490eb 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -393,8 +393,8 @@ void KinematicUnitWidgetController::setControlModeTorque()
if (currentNode)
{
jointModes[currentNode->getName()] = eTorqueControl;
- ui.horizontalSliderKinematicUnitPos->setMaximum(90); // TODO: set useful values!
- ui.horizontalSliderKinematicUnitPos->setMinimum(-90);
+ ui.horizontalSliderKinematicUnitPos->setMaximum(20.0); // TODO: set useful values!
+ ui.horizontalSliderKinematicUnitPos->setMinimum(-20.0);
ARMARX_INFO << "setting torque control for current Node Name: " << currentNode->getName() << flush;
if (kinematicUnitInterfacePrx)
@@ -645,7 +645,7 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
else if(currentControlMode == eTorqueControl)
{
NameValueMap jointTorques;
- jointTorques[currentNode->getName()] = value;
+ jointTorques[currentNode->getName()] = value/10.0f;
if (kinematicUnitInterfacePrx)
{
kinematicUnitInterfacePrx->setJointTorques(jointTorques);
--
GitLab