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Commit 26dadbfd authored by gavanderhoorn's avatar gavanderhoorn Committed by ipa-fxm
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driver: remove magic nr from analog IO scaling. Fix #109.

parent 1d5e8ae7
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ur_driver/prog
+ 9
− 8
View file @ 26dadbfd
......@@ -20,6 +20,7 @@ def driverProg():
MULT_jointstate = 10000.0
MULT_time = 1000000.0
MULT_blend = 1000.0
MULT_analog = 1000000.0
pi = 3.14159265359
def send_out(msg):
......@@ -73,13 +74,13 @@ def driverProg():
socket_send_int(MSG_GET_IO)
socket_send_int(1*get_digital_in(0) + 2*get_digital_in(1) + 4 * get_digital_in(2) + 8 * get_digital_in(3) + 16 * get_digital_in(4) + 32 * get_digital_in(5) + 64 * get_digital_in(6) + 128 * get_digital_in(7) + 256 * get_digital_in(8) + 512 * get_digital_in(9))
socket_send_int(1*get_digital_out(0) + 2*get_digital_out(1) + 4 * get_digital_out(2) + 8 * get_digital_out(3) + 16 * get_digital_out(4) + 32 * get_digital_out(5) + 64 * get_digital_out(6) + 128 * get_digital_out(7) + 256 * get_digital_out(8) + 512 * get_digital_out(9))
socket_send_int(pow(2,0)*get_flag(0) + pow(2,1)*get_flag(1) + pow(2,2)*get_flag(2) + pow(2,3)*get_flag(3) + pow(2,4)*get_flag(4) + pow(2,5)*get_flag(5) + pow(2,6)*get_flag(6) + pow(2,7)*get_flag(7) + pow(2,8)*get_flag(8) + pow(2,9)*get_flag(9) + pow(2,10)*get_flag(10) + pow(2,11)*get_flag(11) + pow(2,12)*get_flag(12) + pow(2,13)*get_flag(13) + pow(2,14)*get_flag(14) + pow(2,15)*get_flag(15) + pow(2,16)*get_flag(16) + pow(2,17)*get_flag(17) + pow(2,18)*get_flag(18) + pow(2,19)*get_flag(19) + pow(2,20)*get_flag(20) + pow(2,21)*get_flag(21) + pow(2,22)*get_flag(22) + pow(2,23)*get_flag(23) + pow(2,24)*get_flag(24) + pow(2,25)*get_flag(25) + pow(2,26)*get_flag(26) + pow(2,27)*get_flag(27) + pow(2,28)*get_flag(28) + pow(2,29)*get_flag(29) + pow(2,30)*get_flag(30) + pow(2,31)*get_flag(31))
socket_send_int(get_analog_out(0)*1000000)
socket_send_int(get_analog_out(1)*1000000)
socket_send_int(get_analog_in(0)*1000000)
socket_send_int(get_analog_in(1)*1000000)
socket_send_int(get_analog_in(2)*1000000)
socket_send_int(get_analog_in(3)*1000000)
socket_send_int(pow(2,0)*get_flag(0) + pow(2,1)*get_flag(1) + pow(2,2)*get_flag(2) + pow(2,3)*get_flag(3) + pow(2,4)*get_flag(4) + pow(2,5)*get_flag(5) + pow(2,6)*get_flag(6) + pow(2,7)*get_flag(7) + pow(2,8)*get_flag(8) + pow(2,9)*get_flag(9) + pow(2,10)*get_flag(10) + pow(2,11)*get_flag(11) + pow(2,12)*get_flag(12) + pow(2,13)*get_flag(13) + pow(2,14)*get_flag(14) + pow(2,15)*get_flag(15) + pow(2,16)*get_flag(16) + pow(2,17)*get_flag(17) + pow(2,18)*get_flag(18) + pow(2,19)*get_flag(19) + pow(2,20)*get_flag(20) + pow(2,21)*get_flag(21) + pow(2,22)*get_flag(22) + pow(2,23)*get_flag(23) + pow(2,24)*get_flag(24) + pow(2,25)*get_flag(25) + pow(2,26)*get_flag(26) + pow(2,27)*get_flag(27) + pow(2,28)*get_flag(28) + pow(2,29)*get_flag(29) + pow(2,30)*get_flag(30) + pow(2,31)*get_flag(31) + pow(2,32)*get_flag(32))
socket_send_int(get_analog_out(0) * MULT_analog)
socket_send_int(get_analog_out(1) * MULT_analog)
socket_send_int(get_analog_in(0) * MULT_analog)
socket_send_int(get_analog_in(1) * MULT_analog)
socket_send_int(get_analog_in(2) * MULT_analog)
socket_send_int(get_analog_in(3) * MULT_analog)
#socket_send_int(7895160) # Recognizable ".xxx" or 00787878
exit_critical
end
......@@ -263,7 +264,7 @@ def driverProg():
if params_mult[0] == 0:
send_out("Received no parameters for set_out message")
end
set_analog_out(params_mult[1], (params_mult[2] / 1000000))
set_analog_out(params_mult[1], (params_mult[2] / MULT_analog))
elif mtype == MSG_SET_TOOL_VOLTAGE:
#send_out("Received Tool Voltage Signal")
# Reads the parameters
......
ur_driver/src/ur_driver/driver.py
+ 8
− 7
View file @ 26dadbfd
......@@ -57,6 +57,7 @@ MULT_wrench = 10000.0
MULT_jointstate = 10000.0
MULT_time = 1000000.0
MULT_blend = 1000.0
MULT_analog = 1000000.0
#Bounds for SetPayload service
MIN_PAYLOAD = 0.0
......@@ -378,42 +379,42 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
while len(buf) < 4:
buf = buf + self.recv_more()
inp = struct.unpack_from("!i", buf, 0)[0]
inp /= 1000000.0
inp /= MULT_analog
buf = buf[4:]
msg.analog_out_states.append(Analog(0, inp))
#gets analog_out[1] state
while len(buf) < 4:
buf = buf + self.recv_more()
inp = struct.unpack_from("!i", buf, 0)[0]
inp /= 1000000.0
inp /= MULT_analog
buf = buf[4:]
msg.analog_out_states.append(Analog(1, inp))
#gets analog_in[0] state
while len(buf) < 4:
buf = buf + self.recv_more()
inp = struct.unpack_from("!i", buf, 0)[0]
inp /= 1000000.0
inp /= MULT_analog
buf = buf[4:]
msg.analog_in_states.append(Analog(0, inp))
#gets analog_in[1] state
while len(buf) < 4:
buf = buf + self.recv_more()
inp = struct.unpack_from("!i", buf, 0)[0]
inp /= 1000000.0
inp /= MULT_analog
buf = buf[4:]
msg.analog_in_states.append(Analog(1, inp))
#gets analog_in[2] state
while len(buf) < 4:
buf = buf + self.recv_more()
inp = struct.unpack_from("!i", buf, 0)[0]
inp /= 1000000.0
inp /= MULT_analog
buf = buf[4:]
msg.analog_in_states.append(Analog(2, inp))
#gets analog_in[3] state
while len(buf) < 4:
buf = buf + self.recv_more()
inp = struct.unpack_from("!i", buf, 0)[0]
inp /= 1000000.0
inp /= MULT_analog
buf = buf[4:]
msg.analog_in_states.append(Analog(3, inp))
pub_io_states.publish(msg)
......@@ -472,7 +473,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
def set_analog_out(self, pinnum, value):
params = [MSG_SET_ANALOG_OUT] + \
[pinnum] + \
[value * 1000000]
[value * MULT_analog]
buf = struct.pack("!%ii" % len(params), *params)
#print params
with self.socket_lock:
......
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