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Pull request #361

closed

Add logging capabilities and fix missing 2*PI of vel. and acc. resolutions

Added by Gianluca Corsini almost 2 years ago. Updated over 1 year ago.

Status:
Closed
Priority:
Normal
Repository URL:
https://redmine.laas.fr/projects/libdynamixel/repository/dynamixel-genom3
Repository branch:
log

Description

Hello @Anthony Mallet,

as the subject states, I added the possibility to log into this module and fixed the velocity and acceleration resolutions for all the motors.

As we expected, the factor 2*PI is missing, as demonstrated by the following tests.
Below are the figures of the results, where I plot the velocities read from the Gazebo simulator.
On the top, it is the test without the fix, while on the bottom with the fix of the resolutions applied.
In both tests, I am sending to the motor the following sequence of target velocities: 1, 0.5, and lastly 0 rad/s.
As you can see, without the fix, all the velocities I read from Gazebo are multiples of 2*PI.

Test without the fix of the resolutions applied


Test with the fix of the resolutions applied


Files

dx1_velocity_w_fix.png (175 KB) dx1_velocity_w_fix.png Test with the fix of the resolutions applied Gianluca Corsini, 2022-09-06 19:17
dx1_velocity_wo_fix.png (186 KB) dx1_velocity_wo_fix.png Test without the fix of the resolutions applied Gianluca Corsini, 2022-09-06 19:17
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