Data Sheet

48
ⅱ) SimplePtoP Source Description
vecd P1, P2;
P1.resize(RobotisArm.GetRobotInfo()->size());
P2.resize(RobotisArm.GetRobotInfo()->size());
P1, P2 sets every joint’s position.
P1.fill(0.0);
P1 -= gvdAngleGapCalcandDynamixelRad;
P2.fill(0.5);
P2 -= gvdAngleGapCalcandDynamixelRad;
P1.fill, P2.fill input every joint’s position(rad) individually. Differences
between DH Configuration’s point of origin and actual point of origin are taken
into consideration so P1 and P2 are to be adjusted accordingly.
ArmComm.Arm_Set_Position_PID_Gain(64, 0, 0);
Joint’s Position P, I, and D gain values.respectively.
ArmComm.Arm_Set_JointVelocity(0);
Joint’s velocity value .0 denotes max velocity.
ArmComm.Arm_Set_JointAcceleration(0);
Joint’s acceleration value .0 denotes max velocity.
ArmTrajectory.ClearMF();
MotionProfile clears the set space.
ArmTrajectory.Set_P2P(P1, P2, 10.0, 0.5);
sets P1, P2(Start, EndPose). In this case P1 is 0.0 rad and P2 is 0.5 rad.
Trajectory is from P1 to P2