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roboticslab-uc3m / yarp-devices

A place for YARP devices
https://robots.uc3m.es/yarp-devices/
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Applied absolute value for tr in setMinLimitRaw and setMaxLimitRaw #205

Closed rsantos88 closed 5 years ago

rsantos88 commented 5 years ago

Applied absolute value for tr in setMinLimitRaw and setMaxLimitRaw to configure the driver correctly with the new direction of rotations.

coveralls commented 5 years ago

Coverage Status

Coverage remained the same at ?% when pulling b1d130fb77e77b3bf2e91ced85facab8952f0964 on change-direction-of-rotation into 20786acae0fca882e76f44fa442313a89f186693 on develop.

coveralls commented 5 years ago

Coverage Status

Coverage remained the same at ?% when pulling ff617f3f3dccbc59aa3fbd574455c8a6c4b47674 on change-direction-of-rotation into 20786acae0fca882e76f44fa442313a89f186693 on develop.

PeterBowman commented 5 years ago

Requires testing. BTW this could have been opened as a draft PR!

rsantos88 commented 5 years ago
  • I think that min-max values should be reversed when working with negative tr's. Am I right?

These changes have already been made in the .ini files. See: https://github.com/roboticslab-uc3m/teo-main/issues/39#issuecomment-466986628 example of the right elbow by @jgvictores.

  • Please #include <cmath> and use std::abs() instead of abs().
  • Can we broaden the scope of this PR to cover the review of velocity/acceleration reference values, too? Perhaps the same abs treatment should be applied in setRefSpeedRaw and setRefAccelerationRaw.
  • Similarly in ICanBusSharerImpl.cpp, look for the refSpeed and refAcceleration class members.

Changes applied in the last 2 commits

PeterBowman commented 5 years ago

Follow-up: https://github.com/roboticslab-uc3m/yarp-devices/issues/213.