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Only update force mode scaling and damping when needed #378

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Only update force mode scaling and damping when needed #378

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17 changes: 15 additions & 2 deletions resources/external_control.urscript
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Original file line number Diff line number Diff line change
Expand Up @@ -715,6 +715,8 @@ end

# Thread to receive one shot script commands, the commands shouldn't be blocking
thread script_commands():
last_force_mode_set_damping = -1.0 # Negative damping will give a runtime expection
last_force_mode_set_gain_scaling = -1.0 # Negative scaling will give a runtime expection
while control_mode > MODE_STOPPED:
raw_command = socket_read_binary_integer(SCRIPT_COMMAND_DATA_DIMENSION, "script_command_socket", 0)
if raw_command[0] > 0:
Expand All @@ -734,12 +736,23 @@ thread script_commands():
wrench = [raw_command[14] / MULT_jointstate, raw_command[15] / MULT_jointstate, raw_command[16] / MULT_jointstate, raw_command[17] / MULT_jointstate, raw_command[18] / MULT_jointstate, raw_command[19] / MULT_jointstate]
force_type = raw_command[20] / MULT_jointstate
force_limits = [raw_command[21] / MULT_jointstate, raw_command[22] / MULT_jointstate, raw_command[23] / MULT_jointstate, raw_command[24] / MULT_jointstate, raw_command[25] / MULT_jointstate, raw_command[26] / MULT_jointstate]
force_mode_set_damping(raw_command[27] / MULT_jointstate)

# Only update the forcemode damping if changed
local new_force_mode_set_damping = raw_command[27] / MULT_jointstate
if new_force_mode_set_damping != last_force_mode_set_damping:
force_mode_set_damping(new_force_mode_set_damping)
last_force_mode_set_damping = new_force_mode_set_damping
end
# Check whether script is running on CB3 or e-series. Gain scaling can only be set on e-series robots.
# step time = 0.008: CB3 robot
# Step time = 0.002: e-series robot
if (get_steptime() < 0.008):
force_mode_set_gain_scaling(raw_command[28] / MULT_jointstate)
# Only update the forcemode damping if changed
local new_force_mode_set_gain_scaling = raw_command[28] / MULT_jointstate
if new_force_mode_set_gain_scaling != last_force_mode_set_gain_scaling:
force_mode_set_gain_scaling(new_force_mode_set_gain_scaling)
last_force_mode_set_gain_scaling = new_force_mode_set_gain_scaling
end
end
force_mode(task_frame, selection_vector, wrench, force_type, force_limits)
elif command == END_FORCE_MODE:
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