Code

Re-implement position direct mode#220

Code

Merged

PeterBowman merged 55 commits intodeveloproboticslab-uc3m/yarp-devices:developfrom pvtroboticslab-uc3m/yarp-devices:pvtCopy head branch name to clipboardJul 29, 2019

+1,264-320

Commits

Commits on May 17, 2019

• Implement IRemoteVariables, forward to CAN subdevices

  PeterBowman

  committed
  e9e4a15

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• Store PVT points in queue, parse and generate remote vars

  PeterBowman

  committed
  489144b

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• Select PVT submode, change buffer size

  PeterBowman

  committed
  5c95782

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• Review PVT target message creation

  PeterBowman

  committed
  89b43b4

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• Map PVT submode to YARP's mixed control mode

  PeterBowman

  committed
  620315e

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• Fill PVT buffer on demand, attend to buffer low signal

  PeterBowman

  committed
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Commits on May 20, 2019

• Adopt new PVT protocol, parse and check values

  PeterBowman

  committed
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Commits on May 21, 2019

• Merge branch 'fix-188-vel-limits' into pvt

  PeterBowman

  committed
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Commits on May 22, 2019

• Consume time parameter as integer value

  PeterBowman

  committed
  9fe289e

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• Add ptModeMs remote variable, re-enable PT mode

  PeterBowman

  committed
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• Set unhandled/invalid modes to VOCAB_CM_UNKNOWN

  PeterBowman

  committed
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• Guard buffer low signal handler

  PeterBowman

  committed
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Commits on May 23, 2019

• Set initial size of iRemoteVariablesRaw vector

  PeterBowman

  authored
  3a5b27d

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• Merge branch 'develop' into pvt

  

  rsantos88

  committed
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• Initialize ptModeMs

  PeterBowman

  authored
  751b897

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• Set integrity counter, fix variable check

  

  PeterBowman

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  rsantos88

  committed
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• Parse parameters from CL, update defaults

  PeterBowman

  committed
  4784776

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• Set remote ptModeMs variable

  PeterBowman

  committed
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Commits on May 24, 2019

• Restore ic debug log

  

  PeterBowman

  authored and

  rsantos88

  committed
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Commits on May 25, 2019

• Enable speed limitation in PT mode

  PeterBowman

  committed
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Commits on Jul 18, 2019

• Merge branch 'develop' into pvt

  PeterBowman

  committed
  bf61f9c

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• Review and refactor bitwise operations on PVT

  PeterBowman

  committed
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Commits on Jul 19, 2019

• [TEST] Refactor PVT periodic thread

  PeterBowman

  committed
  56f7fe6

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• Fix data type

  PeterBowman

  committed
  53489a8

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• Expand PVT buffer emergency error messages

  PeterBowman

  committed
  b0a36cf

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• Disable ic error check, send another point on init

  

  PeterBowman

  authored and

  rsantos88

  committed
  08d82af

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• Only change mode on moving joint

  PeterBowman

  committed
  5ef3c33

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• Hide useless bit unless condition is met

  PeterBowman

  committed
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Commits on Jul 22, 2019

• Start PVT mode prior to starting thread

  PeterBowman

  committed
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• Synchronize PVT send commands, use only one thread

  PeterBowman

  committed
  28143c9

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• Parse and propagete PVT period from master .ini

  PeterBowman

  committed
  3425bfd

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• Fix posd thread instantiation

  PeterBowman

  committed
  aedc200

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• Initialize PVT period on CAN master board

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  PeterBowman

  committed
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• Allow changing PT/PVT mode on demand

  PeterBowman

  committed
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• Set submode via CAN object

  PeterBowman

  committed
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Commits on Jul 23, 2019

• Rename new vars and macros, delete unused stuff

  PeterBowman

  committed
  43fe5d3

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• Parse and propagate buffer size param, refactor

  PeterBowman

  committed
  01bf457

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• Re-enable ic check, store variable internally

  PeterBowman

  committed
  9f380bf

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• Remove class friendship, parse position factor

  PeterBowman

  committed
  d91a36a

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• Clip velocities in PT submode

  PeterBowman

  committed
  9192410

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• Defer load of targets to buffer

  PeterBowman

  committed
  4e5f984

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• Merge branch 'develop' into pvt

  PeterBowman

  committed
  86ef392

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• Clear experimental IRemoteVariables implementation

  PeterBowman

  committed
  4c23afe

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• Force minimum buffer size 2 in PVT, estimate vels

  PeterBowman

  committed
  37d08a0

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• Set PT submode as default, fix init debug message

  PeterBowman

  committed
  f954fd7

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• Revert to old ctor signatures

  PeterBowman

  committed
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Commits on Jul 25, 2019

• Retrieve type of linear interp mode, check pvt buffer empty

  PeterBowman

  committed
  24586f4

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• Turn posd command into a speed-driven trajectory

  PeterBowman

  committed
  870fa91

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• Fill buffer on mode change, send start from main thread

  PeterBowman

  committed
  35cbd1a

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• Fix integer counter bitwise shift

  PeterBowman

  committed
  02cb4aa

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Commits on Jul 26, 2019

• Reduce delay on posd mode change

  

  PeterBowman

  authored and

  rsantos88

  committed
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Commits on Jul 29, 2019

• Unset CM vocab on external reference position mode

  PeterBowman

  committed
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• Restore current/torque mode flag

  PeterBowman

  committed
  3142831

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• Expose linear interpolation params via IRemoteVariables iface

  PeterBowman

  committed
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• Fix motor ID indexing

  PeterBowman

  committed
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