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* This EMS 3.90 version fixes the bug that affected the stiff <-> compliant interaction mode transitions #498

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merged 1 commit into from
Jun 7, 2024
Merged

* This EMS 3.90 version fixes the bug that affected the stiff <-> compliant interaction mode transitions #498

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10 changes: 5 additions & 5 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -81,21 +81,21 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR (VERSION_MAJOR_OFFSET+3)
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 89
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 90

// </h>version

// <h> build date
// <o> year <2010-2030>
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2024
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 5
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 6
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 27
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 6
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 15
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 6
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 29
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 00
// </h>build date
// </h>Info

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23 changes: 16 additions & 7 deletions emBODY/eBcode/arch-arm/embobj/plus/mc/JointSet.c
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,8 @@ void JointSet_init(JointSet* o) //
o->posdir_ctrl_out_type = eomc_ctrl_out_type_n_a;
o->veldir_ctrl_out_type = eomc_ctrl_out_type_n_a;

o->pos_control_active = TRUE;
//o->pos_control_active = TRUE;
o->pos_control_active = FALSE;
o->trq_control_active = FALSE;
o->USE_SPEED_FBK_FROM_MOTORS = TRUE;

Expand Down Expand Up @@ -451,13 +452,13 @@ void JointSet_set_constraints(JointSet* o, const eOmc_jointSet_constraints_t *co

#endif

static int control_output_type(JointSet* o, int16_t control_mode)
static int control_output_type(JointSet* o, int16_t control_mode, int16_t interaction_mode)
{
if (control_mode == eomc_controlmode_cmd_force_idle) return eomc_ctrl_out_type_off;

if (control_mode == eomc_controlmode_cmd_idle) return eomc_ctrl_out_type_off;

if (o->interaction_mode == eOmc_interactionmode_stiff)
if (interaction_mode == eOmc_interactionmode_stiff)
{
switch (control_mode)
{
Expand Down Expand Up @@ -550,7 +551,7 @@ BOOL JointSet_set_control_mode(JointSet* o, eOmc_controlmode_command_t control_m
}
}

int motor_input_type = control_output_type(o, control_mode_cmd);
int motor_input_type = control_output_type(o, control_mode_cmd, o->interaction_mode);

if (motor_input_type == eomc_ctrl_out_type_n_a)
{
Expand Down Expand Up @@ -653,11 +654,14 @@ void JointSet_set_interaction_mode(JointSet* o, eOmc_interactionmode_t interacti
{
if (interaction_mode == o->interaction_mode) return;

if ((interaction_mode == eOmc_interactionmode_compliant) && (o->torque_ctrl_out_type == eomc_ctrl_out_type_n_a)) return;
//if ((interaction_mode == eOmc_interactionmode_compliant) && (o->torque_ctrl_out_type == eomc_ctrl_out_type_n_a)) return;

o->interaction_mode = interaction_mode;
int motor_input_type = control_output_type(o, o->control_mode, interaction_mode);

int motor_input_type = control_output_type(o, o->control_mode);
if (motor_input_type == eomc_ctrl_out_type_n_a) return;

o->interaction_mode = interaction_mode;
o->motor_input_type = motor_input_type;

JointSet_set_inner_control_flags(o);

Expand All @@ -674,6 +678,11 @@ void JointSet_set_interaction_mode(JointSet* o, eOmc_interactionmode_t interacti

for (int k=0; k<N; ++k)
{
if (Motor_is_running(o->motor+o->motors_of_set[k]))
{
Motor_set_run(o->motor+o->motors_of_set[k], o->motor_input_type);
}

Joint_set_interaction_mode(o->joint+o->joints_of_set[k], interaction_mode);
}
}
Expand Down