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Calibration type 14 update on calibration value parser #885

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merged 1 commit into from
Jun 9, 2023
Merged

Calibration type 14 update on calibration value parser #885

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4 changes: 2 additions & 2 deletions conf/iCubFindDependencies.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -65,8 +65,8 @@ checkandset_dependency(OpenCV)
checkandset_dependency(Qt5)

if(icub_firmware_shared_FOUND AND ICUB_USE_icub_firmware_shared)
if(icub_firmware_shared_VERSION VERSION_LESS 1.34.2)
message(FATAL_ERROR "An old version of icub-firmware-shared has been detected: at least 1.34.2 is required")
if(icub_firmware_shared_VERSION VERSION_LESS 1.34.3)
message(FATAL_ERROR "An old version of icub-firmware-shared has been detected: at least 1.34.3 is required")
endif()
endif()

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2 changes: 1 addition & 1 deletion src/libraries/icubmod/embObjLib/serviceParser.cpp
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Expand Up @@ -2076,7 +2076,7 @@ bool ServiceParser::parse_encoder_port(std::string const &fromstring, eObrd_etht

if(len > 15)
{
yWarning() << "SServiceParser::parse_encoder_port():" << t << "is not a legal string for a encoder port because it is too long with size =" << len;
yWarning() << "ServiceParser::parse_encoder_port():" << t << "is not a legal string for a encoder port because it is too long with size =" << len;
formaterror = true;
return false;
}
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34 changes: 21 additions & 13 deletions src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
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Expand Up @@ -2093,14 +2093,20 @@ bool embObjMotionControl::setCalibrationParametersRaw(int j, const CalibrationPa
calib.params.type14.pwmlimit = (int32_t)S_32(params.param1);
calib.params.type14.final_pos = (int32_t)S_32(params.param2);
calib.params.type14.invertdirection = (uint8_t)U_32(params.param3);
calib.params.type14.rotation = (int32_t)S_32(params.param4);

eoas_pos_ROT_t rotationparam;
if(!convertCalib14RotationParam(params.param4, rotationparam))
if (calib.params.type14.invertdirection != 0 && calib.params.type14.invertdirection != 1)
{
yError() << "Error in param4 of calibartion type 14 for joint " << j << "Admitted values are: 0.0, 180.0, 90.0, -90.0";
yError() << "Error in param3 of calibartion type 14 for joint " << j << "Admitted values are: 0=FALSE and 1=TRUE";
return false;
}


if(!checkCalib14RotationParam(calib.params.type14.rotation))
{
yError() << "Error in param4 of calibartion type 14 for joint " << j << "Admitted values are: 0, 32768, 16384, -16384 [0, 180, 90, -90] in iCubDegree";
return false;
}
calib.params.type14.rotation = (uint8_t)rotationparam;
calib.params.type14.offset = (int32_t)S_32(params.param5);
calib.params.type14.calibrationZero = (int32_t)S_32(_measureConverter->posA2E(params.paramZero, j));

Expand Down Expand Up @@ -2128,17 +2134,19 @@ bool embObjMotionControl::setCalibrationParametersRaw(int j, const CalibrationPa

return true;
}
bool embObjMotionControl::convertCalib14RotationParam(double calib_param4, eoas_pos_ROT_t & rotationparam)

bool embObjMotionControl::checkCalib14RotationParam(int32_t calib_param4)
{
if(calib_param4 == 0.0)
{rotationparam = eoas_pos_ROT_zero; return true;}
if(calib_param4 == 180.0)
{rotationparam = eoas_pos_ROT_plus180; return true;}
if(calib_param4 == 90.0)
{rotationparam = eoas_pos_ROT_plus090; return true;}
if(calib_param4 == -90.0)
{rotationparam = eoas_pos_ROT_minus090; return true;}
eOmc_calib14_ROT_t urotation = eomc_int2calib14_ROT(calib_param4);

if (urotation == eOmc_calib14_ROT_zero ||
urotation == eOmc_calib14_ROT_plus180 ||
urotation == eOmc_calib14_ROT_plus090 ||
urotation == eOmc_calib14_ROT_minus090)
{
return true;
}

return false;
}

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4 changes: 2 additions & 2 deletions src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h
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Expand Up @@ -342,8 +342,8 @@ class yarp::dev::embObjMotionControl: public DeviceDriver,
bool helper_setSpdPidRaw(int j, const Pid &pid);
bool helper_getSpdPidRaw(int j, Pid *pid);
bool helper_getSpdPidsRaw(Pid *pid);

bool convertCalib14RotationParam(double calib_param4, eoas_pos_ROT_t & rotationparam);
bool checkCalib14RotationParam(int32_t calib_param4);

public:

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