private void setupSliderBoardForForceControl(
YoVariableRegistry registry,
GeneralizedSDFRobotModel generalizedSDFRobotModel,
final SliderBoardConfigurationManager sliderBoardConfigurationManager) {
for (ValkyrieSliderBoardSelectableJoints jointId :
ValkyrieSliderBoardSelectableJoints.values()) {
String jointName = jointId.toString();
if (!jointName.contains("Ibeo")) {
String pdControllerBaseName = jointName + "ValkyrieJointPDController";
// knobs
sliderBoardConfigurationManager.setKnob(
1, selectedJoint, 0, ValkyrieSliderBoardSelectableJoints.values().length - 1);
// sliders
sliderBoardConfigurationManager.setSlider(
1,
pdControllerBaseName + "_q_d",
registry,
generalizedSDFRobotModel.getJointHolder(jointName).getLowerLimit(),
generalizedSDFRobotModel.getJointHolder(jointName).getUpperLimit());
sliderBoardConfigurationManager.setSlider(
2, "kp_" + pdControllerBaseName, registry, 0.0, 2000.0);
sliderBoardConfigurationManager.setSlider(
3, "kd_" + pdControllerBaseName, registry, 0.0, 600.0);
sliderBoardConfigurationManager.saveConfiguration(jointId.toString());
}
}
selectedJoint.addVariableChangedListener(
new VariableChangedListener() {
@Override
public void variableChanged(YoVariable<?> v) {
System.out.println("loading configuration " + selectedJoint.getEnumValue());
sliderBoardConfigurationManager.loadConfiguration(
selectedJoint.getEnumValue().toString());
}
});
}
private void setupSliderBoardForOnBoardPositionControl(
YoVariableRegistry registry,
GeneralizedSDFRobotModel generalizedSDFRobotModel,
final SliderBoardConfigurationManager sliderBoardConfigurationManager) {
for (ValkyrieSliderBoardSelectableJoints jointId :
ValkyrieSliderBoardSelectableJoints.values()) {
String jointName = jointId.toString();
System.out.println(jointName);
// knobs
sliderBoardConfigurationManager.setKnob(
1, selectedJoint, 0, ValkyrieSliderBoardSelectableJoints.values().length - 1);
// sliders
sliderBoardConfigurationManager.setSlider(
1,
jointName + CommonNames.q_d,
registry,
generalizedSDFRobotModel.getJointHolder(jointName).getLowerLimit(),
generalizedSDFRobotModel.getJointHolder(jointName).getUpperLimit());
sliderBoardConfigurationManager.setSlider(2, jointName + CommonNames.qd_d, registry, -9, 9);
sliderBoardConfigurationManager.saveConfiguration(jointId.toString());
}
selectedJoint.addVariableChangedListener(
new VariableChangedListener() {
@Override
public void variableChanged(YoVariable<?> v) {
System.out.println("loading configuration " + selectedJoint.getEnumValue());
sliderBoardConfigurationManager.loadConfiguration(
selectedJoint.getEnumValue().toString());
}
});
}