@Override
public void writeAfterController(long timestamp) {
jointCommand.clear();
jointCommand.putLong(estimatorTicksPerControlTick);
jointCommand.putLong(timestamp);
jointCommand.putLong(estimatorFrequencyInHz);
for (int i = 0; i < joints.size(); i++) {
OneDoFJoint joint = joints.get(i);
if (fingerJointMap == null || !fingerJointMap.containsKey(joint.getName())) {
if (joint.isUnderPositionControl()) jointCommand.putDouble(joint.getqDesired());
else jointCommand.putDouble(joint.getTau());
} else
jointCommand.putDouble(
fingerJointMap
.get(joint.getName())
.getqDesired()); // fingers are always position controlled
}
jointCommand.flip();
try {
while (jointCommand.hasRemaining()) {
channel.write(jointCommand);
}
} catch (IOException e) {
e.printStackTrace();
}
}
/** ID Robot --> SCS Robot Copy the torques from the IDRobot to the SCSRobot. */
public void updateTorquesSCSrobot() // Remember! the body joint is NOT actuated
{
for (OneDoFJoint idJoint : idToSCSLegJointMap.keySet()) {
OneDegreeOfFreedomJoint scsJoint = idToSCSLegJointMap.get(idJoint);
scsJoint.setTau(idJoint.getTau());
}
}
@Override
public void write() {
for (int i = 0; i < revoluteJoints.size(); i++) {
ImmutablePair<OneDegreeOfFreedomJoint, OneDoFJoint> jointPair = revoluteJoints.get(i);
OneDegreeOfFreedomJoint pinJoint = jointPair.getLeft();
OneDoFJoint revoluteJoint = jointPair.getRight();
pinJoint.setTau(revoluteJoint.getTau());
}
}
public void process(long timestamp) {
for (WandererJoint joint : WandererJoint.values) {
AcsellJointState jointState = state.getJointState(joint);
OneDoFJoint oneDoFJoint = jointMap.get(joint);
RawJointSensorDataHolder rawSensor = rawSensors.get(oneDoFJoint);
oneDoFJoint.setQ(jointState.getQ());
oneDoFJoint.setQd(jointState.getQd());
state.updateRawSensorData(joint, rawSensor);
}
AcsellXSensState xSensState = state.getXSensState();
xSensState.getQuaternion(rotation);
// rootJoint.setRotation(rotation);
rootJoint.updateFramesRecursively();
if (!initialized) {
controller.initialize(timestamp);
initialized = true;
}
controller.doControl(timestamp);
if (controller.turnOutputOn()) {
command.enableActuators();
}
for (WandererJoint joint : WandererJoint.values) {
OneDoFJoint oneDoFJoint = jointMap.get(joint);
RawJointSensorDataHolder rawSensor = rawSensors.get(oneDoFJoint);
AcsellJointCommand jointCommand = command.getAcsellJointCommand(joint);
jointCommand.setTauDesired(oneDoFJoint.getTau(), 0.0, rawSensor);
jointCommand.setDamping(oneDoFJoint.getKd());
}
outputWriter.write();
if (visualizer != null) {
visualizer.update(timestamp);
}
}