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roboticslab-uc3m / yarp-devices

A place for YARP devices
https://robots.uc3m.es/yarp-devices/
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Allow filter customization via YARP option in Jr3 device #203

Closed jmgarciah closed 5 years ago

jmgarciah commented 5 years ago

When I have to do a test or record a video, always I have to change the value of the filters for the FT sensors (both ankles and wrists).

At this moment, the default value for the four filters is 0 ret = ioctl(fd,IOCTL0_JR3_FILTER0,&fm0);

Can we replace in IAnalogSensorImpl.cpp this filter 0 with the filter 2 ?? The filter 2 has a higher frequency, so it can filter the noise of the sensor and measure the external perturbation quickly. It is not as restrictive as the filter 6.

jgvictores commented 5 years ago

Seeing that there are no methods to support this at IAnalogSensor, I'd start by including this as a parameter passed to the device parsed within the open() method: https://github.com/roboticslab-uc3m/yarp-devices/blob/ff690808731d3c75cd598f9a7179030b2df768f5/libraries/YarpPlugins/Jr3/DeviceDriverImpl.cpp#L9

Something like --filter 0 and --filter 2 to map to these values?

jmgarciah commented 5 years ago

It is a great idea if we can use different filters by including this parameter to the device

PeterBowman commented 5 years ago

Kinda unrelated, but I noticed that Clang complains about these lines:

https://github.com/roboticslab-uc3m/yarp-devices/blob/a538b382ddec2649c7c1f1ea9400be867ac49170/libraries/YarpPlugins/Jr3/DeviceDriverImpl.cpp#L24-L26

Each 5.5 value is narrowed down to 5 in order to fit into an integer-type variable.

PeterBowman commented 5 years ago

Each 5.5 value is narrowed down to 5 in order to fit into an integer-type variable.

Related to https://github.com/roboticslab-uc3m/jr3pci-linux/issues/12?

Also, I guess this issue is meant to make https://github.com/roboticslab-uc3m/yarp-devices/commit/fb1c1f64a234ab4a62f36da26b206ef854cdb251 subject to parameterization.

PeterBowman commented 5 years ago

I'd start by including this as a parameter passed to the device parsed within the open() method

@jgvictores, @jmgarciah would https://github.com/roboticslab-uc3m/yarp-devices/commit/97254095637cc2d8e8f5e91e8f63c46201f1372a match the expected behavior?

PeterBowman commented 5 years ago

Merged at https://github.com/roboticslab-uc3m/yarp-devices/commit/90a0aca3e6fb055ab9f375c69e4979848674d117.