Last change
on this file since 167 was
167,
checked in by (none), 14 years ago
|
Simeo: added final project and also older proof of concept code.
We used Git for version control, so look at the Git repo
in SIMEO/Simeo/ for more info.
|
File size:
1.1 KB
|
Rev | Line | |
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[167] | 1 | #include <stdio.h> |
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| 2 | #include "ActuatorProvider.h" |
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| 3 | |
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| 4 | |
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| 5 | ActuatorProvider::ActuatorProvider(Channel *chan, btHingeConstraint *joint, int orient) |
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| 6 | : XProvider(chan) |
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| 7 | { |
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| 8 | m_joint = joint; |
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| 9 | m_orient = orient; |
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| 10 | } |
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| 11 | |
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| 12 | ActuatorProvider::~ActuatorProvider() |
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| 13 | { |
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| 14 | } |
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| 15 | |
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| 16 | btHingeConstraint *ActuatorProvider::getConstraint() |
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| 17 | { |
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| 18 | return m_joint; |
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| 19 | } |
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| 20 | |
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| 21 | int ActuatorProvider::getOrient() |
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| 22 | { |
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| 23 | return m_orient; |
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| 24 | } |
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| 25 | |
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| 26 | void ActuatorProvider::updatePost() |
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| 27 | { |
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| 28 | float angle; |
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| 29 | float speed = 200.0; |
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| 30 | float force = 1000.0; |
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| 31 | m_chan->read(&angle, MPI_FLOAT, 1); |
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| 32 | m_joint->enableAngularMotor(true, computeVelocity(m_joint->getHingeAngle(), btScalar(angle)) * speed, btScalar(force)); |
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| 33 | } |
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| 34 | |
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| 35 | void ActuatorProvider::packData(channelData *data, int id) |
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| 36 | { |
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| 37 | data->angle = m_joint->getHingeAngle(); |
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| 38 | data->maxAngle = m_joint->getUpperLimit(); |
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| 39 | data->minAngle = m_joint->getLowerLimit(); |
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| 40 | data->orient = m_orient; |
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| 41 | data->type = ACTUATOR; |
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| 42 | } |
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| 43 | |
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| 44 | btScalar ActuatorProvider::computeVelocity(btScalar currentAngle, btScalar targetAngle) { |
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| 45 | |
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| 46 | btScalar deltaAngle = targetAngle - currentAngle; |
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| 47 | |
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| 48 | if(deltaAngle < 0) |
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| 49 | deltaAngle += 2 * M_PI; |
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| 50 | |
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| 51 | if(deltaAngle > M_PI) |
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| 52 | deltaAngle -= 2 * M_PI; |
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| 53 | |
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| 54 | return deltaAngle; |
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| 55 | } |
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