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Feature/humble/current based control #70

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b44fcaa
[Remove]previous joint commands
moyashibeans Feb 26, 2024
85df0b9
[Fix]a typo
moyashibeans Feb 26, 2024
b59cdc4
[Add]effort command interface
moyashibeans Feb 26, 2024
c06216f
[Add]command interfaces switching using ros2_control lifecycle
moyashibeans Feb 26, 2024
86da436
[Change]Execute 'set_control_mode' function only on comannd interface…
moyashibeans Feb 27, 2024
9186d06
[Remove]unused variable.
moyashibeans Feb 27, 2024
faed640
[Add]current control, current based position control mode
moyashibeans Feb 27, 2024
c95ce5c
[Improve]format code
moyashibeans Feb 27, 2024
193dc85
[Add]export command/state interfaces using joints info
moyashibeans Feb 27, 2024
3eb921d
[Add]enable control of TTL and RS485 motors a via a single U2D2
moyashibeans Feb 27, 2024
909f7de
[Add]allow passing parameter via xacro args
moyashibeans Feb 27, 2024
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18 changes: 13 additions & 5 deletions dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,18 +44,18 @@ struct Joint
{
JointValue state{};
JointValue command{};
JointValue prev_command{};
};

enum class ControlMode {
Position,
Velocity,
Torque,
Currrent,
Current,
ExtendedPosition,
MultiTurn,
CurrentBasedPosition,
PWM,
NoControl,
};

class DynamixelHardware
Expand All @@ -73,6 +73,11 @@ class DynamixelHardware
DYNAMIXEL_HARDWARE_PUBLIC
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

DYNAMIXEL_HARDWARE_PUBLIC
return_type prepare_command_mode_switch(
const std::vector<std::string> & start_interfaces,
const std::vector<std::string> & stop_interfaces) override;

DYNAMIXEL_HARDWARE_PUBLIC
CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;

Expand All @@ -88,21 +93,24 @@ class DynamixelHardware
private:
return_type enable_torque(const bool enabled);

return_type set_control_mode(const ControlMode & mode, const bool force_set = false);
return_type set_control_mode(const ControlMode & mode);

return_type reset_command();

CallbackReturn set_joint_positions();
CallbackReturn set_joint_velocities();
CallbackReturn set_joint_currents();
CallbackReturn set_joint_params();

DynamixelWorkbench dynamixel_workbench_;
std::map<const char * const, const ControlItem *> control_items_;
std::vector<Joint> joints_;
std::vector<uint8_t> joint_ids_;
std::vector<uint8_t> joint_ids_ttl_;
std::vector<uint8_t> joint_ids_rs_;
bool torque_enabled_{false};
ControlMode control_mode_{ControlMode::Position};
bool mode_changed_{false};
ControlMode control_mode_{ControlMode::NoControl};
ControlMode prev_control_mode_{ControlMode::NoControl};
bool use_dummy_{false};
};
} // namespace dynamixel_hardware
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