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Stack Of Tasks
sot-torque-control
Commits
f77a7c2a
Commit
f77a7c2a
authored
Feb 20, 2018
by
Olivier Stasse
Browse files
[unitTestig] Fix test_control_manager.
parent
493d2505
Changes
2
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Inline
Side-by-side
python/dynamic_graph/sot/torque_control/tests/robot_data_test.py
View file @
f77a7c2a
...
...
@@ -104,9 +104,7 @@ class initRobotData:
def
init_and_set_controller_manager
(
self
,
cm
):
# Init should be called before addCtrlMode
# because the size of state vector must be known.
cm
.
init
(
self
.
controlDT
,
self
.
testRobotPath
,
self
.
ctrlManagerCurrentToControlGain
,
self
.
maxCurrent
,
self
.
robotRef
)
cm
.
init
(
self
.
controlDT
,
self
.
testRobotPath
,
self
.
robotRef
)
# Set the map from joint name to joint ID
for
key
in
self
.
mapJointNameToID
:
...
...
@@ -135,7 +133,4 @@ class initRobotData:
cm
.
setRightFootSoleXYZ
(
self
.
RightFootSensorXYZ
)
cm
.
setDefaultMaxCurrent
(
-
10.0
)
cm
.
setDefaultMaxCurrent
(
self
.
maxCurrent
)
cm
.
getDefaultMaxCurrent
()
python/dynamic_graph/sot/torque_control/tests/test_control_manager.py
View file @
f77a7c2a
...
...
@@ -22,13 +22,8 @@ cm.controlDT=0.005
# Initializing the input ports
# Setting the robot configuration
cm
.
base6d_encoders
.
value
=
q
cm
.
dq
.
value
=
dq
cm
.
bemfFactor
.
value
=
bemfFactor
cm
.
max_current
.
value
=
max_current
cm
.
max_tau
.
value
=
max_tau
cm
.
percentageDriverDeadZoneCompensation
.
value
=
percentageDriverDeadZoneCompensation
cm
.
signWindowsFilterSize
.
value
=
signWindowsFilterSize
cm
.
i_max
.
value
=
max_current
cm
.
u_max
.
value
=
max_tau
cm
.
tau
.
value
=
tau
cm
.
tau_predicted
.
value
=
tau_predicted
...
...
@@ -46,7 +41,4 @@ cm.ctrl_torque.value = currentDes
cm
.
ctrl_pos
.
value
=
pwmDes
cm
.
setCtrlMode
(
"all"
,
"pos"
)
cm
.
pwmDes
.
recompute
(
10
)
cm
.
pwmDes
.
value
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