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Fix normalize function. #190

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Merged
YoujianWu merged 2 commits into from
Apr 8, 2025
Merged

Fix normalize function. #190

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3f6e53e
Fix normalize function.
Rayy0527 Apr 6, 2025
18d1dcf
Fix normalize.
Rayy0527 Apr 7, 2025
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1 change: 1 addition & 0 deletions rm_shooter_controllers/include/rm_shooter_controllers/standard.h
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Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,7 @@ class Controller : public controller_interface::MultiInterfaceController<hardwar
double freq_threshold_{};
bool dynamic_reconfig_initialized_ = false;
bool state_changed_ = false;
bool enter_ready_ = false;
bool maybe_block_ = false;
double friction_block_effort_{}, friction_block_vel_{};
double anti_friction_block_duty_cycle_{}, anti_friction_block_vel_{};
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14 changes: 12 additions & 2 deletions rm_shooter_controllers/src/standard.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,8 @@ void Controller::update(const ros::Time& time, const ros::Duration& period)
config_.exit_push_threshold ||
cmd_.hz >= freq_threshold_)))
{
if (state_ == STOP && cmd_.mode == READY)
enter_ready_ = true;
state_ = cmd_.mode;
state_changed_ = true;
}
Expand Down Expand Up @@ -306,8 +308,16 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
void Controller::normalize()
{
double push_angle = 2. * M_PI / static_cast<double>(push_per_rotation_);
ctrl_trigger_.setCommand(
push_angle * std::floor((ctrl_trigger_.joint_.getPosition() + 0.01 + config_.exit_push_threshold) / push_angle));
if (cmd_.hz <= freq_threshold_)
ctrl_trigger_.setCommand(
push_angle * std::floor(ctrl_trigger_.joint_.getPosition() + 0.01 + config_.exit_push_threshold) / push_angle);
else if (enter_ready_)
{
ctrl_trigger_.setCommand(push_angle * std::floor((ctrl_trigger_.joint_.getPosition() + 0.01) / push_angle));
enter_ready_ = false;
}
else
ctrl_trigger_.setCommand(push_angle * std::floor((ctrl_trigger_.joint_.getPosition() - 0.01) / push_angle));
}

void Controller::judgeBulletShoot(const ros::Time& time, const ros::Duration& period)
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