Data Sheet

43
Position P, I, D Gain functions. Default P gain value is 64 이고; I and D Gain
are 0. the .fill contains every joint’s PID values individually.
gpArmComm->Arm_Torque_On();
This function gets initialized before moving the arm to its initial pose.
gpArmComm->Arm_Set_Position_PID_Gain(DEFAULT_POSITION_P_GAIN,
DEFAULT_POSITION_I_GAIN,
DEFAULT_POSITION_D_GAIN);
Sets the manipulator joints’ PID gain values..
gpArmTrajectory = new TrajectoryGenerator(gpArmKinematics)
gpArmTrajectory->Set_P2P(
gvdRealDynamixelAngleRad-gvdAngleGapCalcandDynamixelRad,
gvdGoalDynamixelAngleRad-gvdAngleGapCalcandDynamixelRad,
5.0, 1.0)
The generated Kinematics, StartPose, EndPose, TotalTime, AccelTime get
inputted into the trajectory. Trajectory is generated via P2P. The StartPose is the
current pose and EndPose is ArmMonitor’s initial pose. TotalTime is 5.0sec
where AccelTime is 1.0sec. For more information on trajectory generation
please go to 4.2 How to Program and 6.3 MotionEngine’s Trajectory
Generator.
gpMotionPlayer = new MotionPlay(gpArmKinematics, gpArmTrajectory);
MotionPlay’s CurrentTime, ElapsedTime get initialized and setp up
MotionProfile. These are required variables for kinematics and trajectory’s
motion.
gpMotionPlayer->Set_Time_Period(5);
Motion’s time period in msec.