private void setupIndividualHandControl(final SliderBoardConfigurationManager sliderBoardConfigurationManager, final EnumYoVariable<SliderBoardMode> sliderBoardMode, final DRCRobotModel drcRobotModel, final YoVariableRegistry registry) { sliderBoardConfigurationManager.setKnob(1, sliderBoardMode, 0, sliderBoardMode.getEnumValues().length - 1); SideDependentList<LinkedHashMap<String, ImmutablePair<Double, Double>>> actuatableFingerJointsWithLimits = drcRobotModel.getSliderBoardControlledFingerJointsWithLimits(); //This currently assumes you don't have more than 8 actuatable finger joints per hand because the sliderboard only has 8 sliders. for (RobotSide side : RobotSide.values()) { int i = 0; for (String actuatableFingerJointName : actuatableFingerJointsWithLimits.get(side).keySet()) { sliderBoardConfigurationManager.setSlider(++i, actuatableFingerJointName + CommonNames.q_d.toString(), registry, actuatableFingerJointsWithLimits.get(side).get(actuatableFingerJointName).getLeft(), actuatableFingerJointsWithLimits.get(side).get(actuatableFingerJointName) .getRight()); } if (side == RobotSide.LEFT) { sliderBoardConfigurationManager.saveConfiguration(SliderBoardMode.LeftHandGrasping.toString()); } else { sliderBoardConfigurationManager.saveConfiguration(SliderBoardMode.RightHandGrasping.toString()); } sliderBoardConfigurationManager.clearControls(); } }
private void setupIndividualHandControl(final SliderBoardConfigurationManager sliderBoardConfigurationManager, final YoEnum<SliderBoardMode> sliderBoardMode, final DRCRobotModel drcRobotModel, final YoVariableRegistry registry) { sliderBoardConfigurationManager.setKnob(1, sliderBoardMode, 0, sliderBoardMode.getEnumValues().length - 1); SideDependentList<LinkedHashMap<String, ImmutablePair<Double, Double>>> actuatableFingerJointsWithLimits = drcRobotModel.getSliderBoardParameters().getSliderBoardControlledFingerJointsWithLimits(); //This currently assumes you don't have more than 8 actuatable finger joints per hand because the sliderboard only has 8 sliders. for (RobotSide side : RobotSide.values()) { int i = 0; for (String actuatableFingerJointName : actuatableFingerJointsWithLimits.get(side).keySet()) { sliderBoardConfigurationManager.setSlider(++i, actuatableFingerJointName + CommonNames.q_d.toString(), registry, actuatableFingerJointsWithLimits.get(side).get(actuatableFingerJointName).getLeft(), actuatableFingerJointsWithLimits.get(side).get(actuatableFingerJointName) .getRight()); } if (side == RobotSide.LEFT) { sliderBoardConfigurationManager.saveConfiguration(SliderBoardMode.LeftHandGrasping.toString()); } else { sliderBoardConfigurationManager.saveConfiguration(SliderBoardMode.RightHandGrasping.toString()); } sliderBoardConfigurationManager.clearControls(); } }
sliderBoardConfigurationManager.setSlider(7, CommonNames.doIHMCControlRatio.toString(), registry, 0.0, 1.0);
sliderBoardConfigurationManager.setSlider(7, CommonNames.doIHMCControlRatio.toString(), registry, 0.0, 1.0);
sliderBoardConfigurationManager.setSlider(7, CommonNames.doIHMCControlRatio.toString(), registry, 0.0, 1.0);
sliderBoardConfigurationManager.setSlider(7, CommonNames.doIHMCControlRatio.toString(), registry, 0.0, 1.0);