private final Limit createJointLimit(OneDegreeOfFreedomJoint scsJoint) { Limit sdfJointLimit = new Limit(); String effort = String.valueOf(scsJoint.getTorqueLimit()); sdfJointLimit.setEffort(effort); String velocity = String.valueOf(scsJoint.getVelocityLimit()); sdfJointLimit.setVelocity(velocity); String lower = String.valueOf(scsJoint.getJointLowerLimit()); sdfJointLimit.setLower(lower); String upper = String.valueOf(scsJoint.getJointUpperLimit()); sdfJointLimit.setUpper(upper); double jointRange = scsJoint.getJointUpperLimit() - scsJoint.getJointLowerLimit(); if (jointRange == 0.0) PrintTools.debug(this, scsJoint.getName() + " upper joint limit equals lower joint limit!"); return sdfJointLimit; }
private final Limit createJointLimit(OneDegreeOfFreedomJoint scsJoint) { Limit sdfJointLimit = new Limit(); String effort = String.valueOf(scsJoint.getTorqueLimit()); sdfJointLimit.setEffort(effort); String velocity = String.valueOf(scsJoint.getVelocityLimit()); sdfJointLimit.setVelocity(velocity); String lower = String.valueOf(scsJoint.getJointLowerLimit()); sdfJointLimit.setLower(lower); String upper = String.valueOf(scsJoint.getJointUpperLimit()); sdfJointLimit.setUpper(upper); double jointRange = scsJoint.getJointUpperLimit() - scsJoint.getJointLowerLimit(); if (jointRange == 0.0) PrintTools.debug(this, scsJoint.getName() + " upper joint limit equals lower joint limit!"); return sdfJointLimit; }
sliderBoardConfigurationManager.setSlider(4, variables.kd, 0, 5 * joint.getRatio() * joint.getRatio()); if (Double.isNaN(oneDoFJoint.getTorqueLimit()) || Double.isInfinite(oneDoFJoint.getTorqueLimit())) sliderBoardConfigurationManager.setSlider(5, variables.tauFF, -oneDoFJoint.getTorqueLimit(), oneDoFJoint.getTorqueLimit());
sliderBoardConfigurationManager.setSlider(4, variables.kd, -.1 * joint.getRatio() * joint.getRatio(), .1 * joint.getRatio() * joint.getRatio()); if (Double.isNaN(oneDoFJoint.getTorqueLimit()) || Double.isInfinite(oneDoFJoint.getTorqueLimit())) sliderBoardConfigurationManager.setSlider(5, variables.tauFF, -oneDoFJoint.getTorqueLimit(), oneDoFJoint.getTorqueLimit());