Skip to content

Fix read() in hardware plugin #47

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
euyniy merged 2 commits into from
Jul 24, 2025
Merged

Fix read() in hardware plugin #47

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
efe94f8
Use conservative control values
euyniy Jul 23, 2025
b48a403
Fix with effective read
euyniy Jul 23, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,7 @@ class OpenArm_v10HW : public hardware_interface::SystemInterface {
const uint32_t DEFAULT_GRIPPER_RECV_CAN_ID = 0x18;

// Default gains
const std::vector<double> DEFAULT_KP = {80.0, 80.0, 20.0, 55.0,
const std::vector<double> DEFAULT_KP = {20.0, 20.0, 20.0, 20.0,
5.0, 5.0, 5.0, 0.5};
const std::vector<double> DEFAULT_KD = {2.75, 2.5, 0.7, 0.4,
0.7, 0.6, 0.5, 0.1};
Expand Down
5 changes: 2 additions & 3 deletions openarm_hardware/src/v10_simple_hardware.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -230,9 +230,8 @@ hardware_interface::return_type OpenArm_v10HW::read(
const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
// Receive all motor states
openarm_->set_callback_mode_all(openarm::damiao_motor::CallbackMode::STATE);
openarm_->refresh_all();
openarm_->recv_all();
std::this_thread::sleep_for(std::chrono::microseconds(300));
openarm_->set_callback_mode_all(openarm::damiao_motor::CallbackMode::IGNORE);

// Read arm joint states
const auto& arm_motors = openarm_->get_arm().get_motors();
Expand Down Expand Up @@ -272,9 +271,9 @@ hardware_interface::return_type OpenArm_v10HW::write(
openarm_->get_arm().mit_control_all(arm_params);
// Control gripper if enabled
if (hand_ && joint_names_.size() > ARM_DOF) {
// TODO the mappings are unimplemented.
// Convert joint value (0-1) to motor position (radians)
double motor_command = joint_to_motor_radians(pos_commands_[ARM_DOF]);

openarm_->get_gripper().mit_control_all({{5.0, 1.0, motor_command, 0, 0}});
Copy link

Copilot AI Jul 23, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

The magic numbers {5.0, 1.0, motor_command, 0, 0} should be replaced with named constants or variables to improve code readability and maintainability. Consider defining constants like GRIPPER_KP, GRIPPER_KD, etc.

Suggested change
openarm_->get_gripper().mit_control_all({{5.0, 1.0, motor_command, 0, 0}});
openarm_->get_gripper().mit_control_all({{GRIPPER_KP, GRIPPER_KD, motor_command, GRIPPER_VELOCITY, GRIPPER_TORQUE}});

Copilot uses AI. Check for mistakes.
}
std::this_thread::sleep_for(std::chrono::microseconds(300));
Expand Down