Newer Battery #92
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Newer Battery #92
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Adjusted proto message to include battery charge and managed endpoints in cpp and py to set and get battery value. Moved the robot state topic information about publishing frequency to the robot controller both in cpp and py to ensure that the robot is not blocked waiting on the world to respond on how much messages the robot has to send. Tried using the robot configuration to set the initial charge, but it is not accepting any value despite the changes in the sdf configuration and the way it is accessed in the cpp code. Furtermore the largest concern is the convoluted code surrounding the angle/.../world.py since it is closely connect to the way it gets the robot states, it is impossible to detach the responsibilities and move it to tol/.../world.py. This step requires refactoring of the entire robot/world paradigm.
…e battery state when it is requested to change. Currectly this request is never made, but should be cleaned up in the future to set the battery state with the new battery approach.
…e battery state when it is requested to change. Currectly this request is never made, but should be cleaned up in the future to set the battery state with the new battery approach.
DaanZ
commented
May 13, 2020
| @@ -75,7 +75,7 @@ RLPower::RLPower( | |||
| this->InitialisePolicy(numMotors); | |||
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| // Start the evaluator | |||
| this->evaluator_.reset(new Evaluator(this->evaluationRate_)); | |||
| //this->evaluator_.reset(new Evaluator(this->evaluationRate_/*TODO find the battery */)); | |||
| @@ -79,7 +79,8 @@ PositionMotor::~PositionMotor() = default; | |||
| ///////////////////////////////////////////////// | |||
| void PositionMotor::write( | |||
| const double *outputs, | |||
| double /*step*/) | |||
| double /*step*/ | |||
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| std::system(("mkdir -p " + this->directory_name).c_str()); | ||
| std::system(("mkdir -p " + this->directory_name).c_str()); |
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There has to be a better way to this (this is only UNIX for example). Also it could be a security issue
| // TODO find which axis to use local or global | ||
| // TODO check the power if it should be positive or negative | ||
| // TODO change this for now im using the absolute value of the power so it always decreases from the joint movements | ||
| double power = -abs(cmd * jointWrench.body1Torque.Length()); // TODO check which torque to use 1 or 2 |
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floor when positive instead of abs
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CMD is the desired angular velocity (from PID) and not real velocity (from physics engine)
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Since the angular velocity can be both positive and negative, (leading to positive and negative power), therefore we need the absolute value and negate this to get the purely negative power usage.
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Added Roy's commits to the development branch to speed up merging.