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Swap Position to ExtendedPosition mode #1

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Merged
merged 1 commit into from
Feb 13, 2024
Merged

Swap Position to ExtendedPosition mode #1

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16 changes: 8 additions & 8 deletions dynamixel_hardware/src/dynamixel_hardware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo
}

enable_torque(false);
set_control_mode(ControlMode::Position, true);
set_control_mode(ControlMode::ExtendedPosition, true);
set_joint_params();
enable_torque(true);

Expand Down Expand Up @@ -305,7 +305,7 @@ return_type DynamixelHardware::write(const rclcpp::Time & /* time */, const rclc
// Position control
if (std::any_of(
joints_.cbegin(), joints_.cend(), [](auto j) { return j.command.position != j.prev_command.position; })) {
set_control_mode(ControlMode::Position);
set_control_mode(ControlMode::ExtendedPosition);
if(mode_changed_)
{
set_joint_params();
Expand All @@ -327,7 +327,7 @@ return_type DynamixelHardware::write(const rclcpp::Time & /* time */, const rclc
set_joint_velocities();
return return_type::OK;
break;
case ControlMode::Position:
case ControlMode::ExtendedPosition:
set_joint_positions();
return return_type::OK;
break;
Expand Down Expand Up @@ -396,23 +396,23 @@ return_type DynamixelHardware::set_control_mode(const ControlMode & mode, const
return return_type::OK;
}

if (mode == ControlMode::Position && (force_set || control_mode_ != ControlMode::Position)) {
if (mode == ControlMode::ExtendedPosition && (force_set || control_mode_ != ControlMode::ExtendedPosition)) {
bool torque_enabled = torque_enabled_;
if (torque_enabled) {
enable_torque(false);
}

for (uint i = 0; i < joint_ids_.size(); ++i) {
if (!dynamixel_workbench_.setPositionControlMode(joint_ids_[i], &log)) {
if (!dynamixel_workbench_.setExtendedPositionControlMode(joint_ids_[i], &log)) {
RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
return return_type::ERROR;
}
}
RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "Position control");
if(control_mode_ != ControlMode::Position)
if(control_mode_ != ControlMode::ExtendedPosition)
{
mode_changed_ = true;
control_mode_ = ControlMode::Position;
control_mode_ = ControlMode::ExtendedPosition;
}

if (torque_enabled) {
Expand All @@ -421,7 +421,7 @@ return_type DynamixelHardware::set_control_mode(const ControlMode & mode, const
return return_type::OK;
}

if (control_mode_ != ControlMode::Velocity && control_mode_ != ControlMode::Position) {
if (control_mode_ != ControlMode::Velocity && control_mode_ != ControlMode::ExtendedPosition) {
RCLCPP_FATAL(
rclcpp::get_logger(kDynamixelHardware), "Only position/velocity control are implemented");
return return_type::ERROR;
Expand Down