Data Sheet

42
gviVelocityPGain.resize(gpRobotisArm->GetRobotInfo()->size())
Velocity P Gain value.
gviVelocityIGain.resize(gpRobotisArm->GetRobotInfo()->size())
Velocity I Gain value.
gviDynamixelVelocity.resize(gpRobotisArm->GetRobotInfo()->size())
Velocity value.
gviDynamixelAcceleration.resize(gpRobotisArm->GetRobotInfo()->size())
Acceleration value
gvdGoalCalculationAngleRad = gpArmKinematics->GetCurrentAngle();
gvdRealCalculationAngleRad = gpArmKinematics->GetCurrentAngle();
from gpArmKinematics (mCurrentAngle) current pose value initialize
gvdGoal CalculationAngleInRad and gvdRealCalculationAngleInRad.
gvdAngleGapCalcandDynamixelRad.resize(gpRobotisArm->GetRobotInfo()->size())
gvdAngleGapCalcandDynamixelRad<< 0.0, ML_PI_2 - 6.4831 * ML_PI/ 180.0, ML_PI_4 +
6.4831 * ML_PI/ 180.0, 0.0, 0.0, 0.0
This function has been introduced due to the differences between point of
origin and actual joints’ point of origin from the DH Configuration. Once the
size of angle adjustment has been assigned per joint enter the difference
between point of origin and the joint actual point of origin. The values above
are default values (ML_PI is in , ML_PI_2 in , and ML_PI_4 in
.)
gvdGoalDynamixelAngleRad<< 0.0, ML_PI/4.0, -ML_PI/4.0,0.0, -ML_PI/4.0, 0.0;
GoalDynamixelAngleRad is the initial pose default values.
gviPositionPGain.fill(DEFAULT_POSITION_P_GAIN)
gviPositionIGain.fill(DEFAULT_POSITION_I_GAIN)
gviPositionDGain.fill(DEFAULT_POSITION_D_GAIN)