56f98bd226
We are standardizing our software under Apache License 2.0. This PR
replaces existing BSD 3-Clause License with Apache 2.0 in this
repository.
## About Copyright
All commits in this repository are made by Reazon Holdings, Inc.
members, so the copyright has been added as follows.
- `Copyright 2025 Reazon Holdings, Inc.`
```console
$ git shortlog -sn
55 Thomason Zhou
14 thomason
5 takuya kodama
1 Fujimoto Seiji
1 edwin-giang
1 toki
```
## How it was done
We added the new license header directory by directory, with each commit
covering a single directory to make review easier.
To ensure there are no missing files, we ran the following commands.
```
$ grep -RIL --exclude-dir='.git' --exclude='*.stl' "Apache License, Version 2.0" .
./openarm_bringup/README.md
./openarm_bimanual_moveit_config/README.md
./openarm_bimanual_description/urdf/openarm_bimanual.urdf
./.gitignore
./README.md
./openarm_description/urdf/openarm.urdf
./openarm_description/resource/openarm_description
```
The following files are auto-generated.
- openarm_bimanual_description/urdf/openarm_bimanual.urdf
- openarm_description/urdf/openarm.urdf
88 lines
2.8 KiB
C++
88 lines
2.8 KiB
C++
// Copyright 2025 Reazon Holdings, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include <unistd.h>
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#include <array>
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#include <atomic>
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#include <chrono>
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#include <cstring>
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#include <functional>
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#include <iostream>
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#include <map>
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#include <thread>
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#include <vector>
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#include "canbus.hpp"
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#include "motor.hpp"
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class MotorControl {
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public:
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explicit MotorControl(CANBus& canbus);
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bool addMotor(Motor& motor);
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void enable(Motor& motor);
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void disable(Motor& motor);
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void set_zero_position(Motor& motor);
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void controlMIT(Motor& motor, double kp, double kd, double q, double dq,
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double tau);
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void controlMIT2(Motor& motor, double kp, double kd, double q, double dq,
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double tau);
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void sendData(uint16_t motor_id, const std::array<uint8_t, 8>& data);
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void recv();
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void control_delay(Motor& motor, double kp, double kd, double q, double dq,
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double tau, double delay);
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void controlPosVel(Motor& motor, double q, double dq);
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void controlPosVel2(Motor& motor, double q, double dq);
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void controlVel(Motor& motor, double dq);
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void controlVel2(Motor& motor, double dq);
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void controlPosForce(Motor& motor, double q, double vel, double tau);
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void controlPosForce2(Motor& motor, double q, double vel, double tau);
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bool switchControlMode(Motor& motor, Control_Type controlMode);
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void save_motor_param(Motor& motor);
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void change_limit_param();
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// void change_limit_param(DM_Motor_Type motor_type, double PMAX, double VMAX,
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// double TMAX);
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void recv_set_param_data();
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private:
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CANBus& canbus_;
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std::map<uint16_t, Motor*> motors_map_;
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static constexpr double Limit_Param[12][3] = {
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{12.5, 30, 10}, // DM4310
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{12.5, 50, 10}, // DM4310_48V
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{12.5, 8, 28}, // DM4340
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{12.5, 10, 28}, // DM4340_48V
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{12.5, 45, 20}, // DM6006
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{12.5, 45, 40}, // DM8006
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{12.5, 45, 54}, // DM8009
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{12.5, 25, 200}, // DM10010L
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{12.5, 20, 200}, // DM10010
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{12.5, 280, 1}, // DMH3510
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{12.5, 45, 10}, // DMH6215
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{12.5, 45, 10}, // DMG6220
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};
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void processPacket(const can_frame& frame);
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void processPacketFD(const canfd_frame& frame);
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void controlCmd(Motor& motor, uint8_t cmd);
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void readRIDParam(Motor& motor, DM_variable RID);
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void writeMotorParam(Motor& motor, DM_variable RID, double value);
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};
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