feat: Add method for torque control using torque constant

2b-t · Nov 19, 2023 · 4e73165 · 4e73165
1 parent dbae6b4
commit 4e73165
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Showing 3 changed files with 27 additions and 8 deletions.
diff --git a/bindings/myactuator_rmd.cpp b/bindings/myactuator_rmd.cpp
@@ -54,6 +54,7 @@ PYBIND11_MODULE(myactuator_rmd, m) {
  .def("lockBrake", &myactuator_rmd::Driver::lockBrake)
  .def("releaseBrake", &myactuator_rmd::Driver::releaseBrake)
  .def("reset", &myactuator_rmd::Driver::reset)
+ .def("sendCurrentSetpoint", &myactuator_rmd::Driver::sendCurrentSetpoint)
  .def("sendPositionAbsoluteSetpoint", &myactuator_rmd::Driver::sendPositionAbsoluteSetpoint)
  .def("sendTorqueSetpoint", &myactuator_rmd::Driver::sendTorqueSetpoint)
  .def("sendVelocitySetpoint", &myactuator_rmd::Driver::sendVelocitySetpoint)

diff --git a/include/myactuator_rmd/driver.hpp b/include/myactuator_rmd/driver.hpp
@@ -236,6 +236,17 @@ namespace myactuator_rmd {
  */
  void reset();
 
+ /**\fn sendCurrentSetpoint
+ * \brief
+ * Send a current set-point to the actuator
+ *
+ * \param[in] current
+ * The current set-point in Ampere [-20.00, 20.00]
+ * \return
+ * Feedback control message containing actuator position, velocity, torque and temperature
+ */
+ Feedback sendCurrentSetpoint(float const current);
+
  /**\fn sendPositionAbsoluteSetpoint
  * \brief
  * Send an absolute position set-point to the actuator additionally specifying a maximum velocity
@@ -251,14 +262,16 @@ namespace myactuator_rmd {
 
  /**\fn sendTorqueSetpoint
  * \brief
- * Send a torque set-point to the actuator by specifying the current
+ * Send a torque set-point to the actuator by setting the current
  *
- * \param[in] current
- * The current set-point in Ampere [-20.00, 20.00]
+ * \param[in] torque
+ * The desired torque in [Nm]
+ * \param[in] torque_constant
+ * The motor's torque constant [Nm/A], depends on the model of the motor
  * \return
  * Feedback control message containing actuator position, velocity, torque and temperature
  */
- Feedback sendTorqueSetpoint(float const current);
+ Feedback sendTorqueSetpoint(float const torque, float const torque_constant = 2.09);
 
  /**\fn sendVelocitySetpoint
  * \brief

diff --git a/src/driver.cpp b/src/driver.cpp
@@ -143,16 +143,21 @@ namespace myactuator_rmd {
  return;
  }
 
+ Feedback Driver::sendCurrentSetpoint(float const current) {
+ SetTorqueRequest const request {current};
+ auto const response {sendRecv<SetTorqueResponse>(request)};
+ return response.getStatus();
+ }
+
  Feedback Driver::sendPositionAbsoluteSetpoint(float const position, float const max_speed) {
  SetPositionAbsoluteRequest const request {position, max_speed};
  auto const response {sendRecv<SetPositionAbsoluteResponse>(request)};
  return response.getStatus();
  }
 
- Feedback Driver::sendTorqueSetpoint(float const current) {
- SetTorqueRequest const request {current};
- auto const response {sendRecv<SetTorqueResponse>(request)};
- return response.getStatus();
+ Feedback Driver::sendTorqueSetpoint(float const torque, float const torque_constant) {
+ auto const current {torque/torque_constant};
+ return sendCurrentSetpoint(current);
  }
 
  Feedback Driver::sendVelocitySetpoint(float const speed) {