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修改校准配置文件

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This commit is contained in:
shenchenyang 2026-04-15 11:03:22 +08:00
parent 05ba5f7ca2
commit 2ec0c250c7
2 changed files with 5 additions and 23 deletions
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10
src/openarm_joint_sensor/config/joint_sensor_zero_offsets.yaml
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@ -16,14 +16,14 @@ joint_sensor_node:
- 1.3744467859455343 - 1.3744467859455343
right_sensor_directions: right_sensor_directions:
- -1.0 - -1.0
- 1.0 - -1.0
- -1.0 - -1.0
- 1.0 - 1.0
- -1.0 - -1.0
- 1.0 - 1.0
- -1.0 - -1.0
- 1.0 - 1.0
right_auto_zero_on_first_sample: false right_auto_zero_on_first_sample: true
left_zero_offsets: left_zero_offsets:
- 2.492718780314167 - 2.492718780314167
- -0.7577865092155065 - -0.7577865092155065
@ -35,14 +35,14 @@ joint_sensor_node:
- 1.2977477465512521 - 1.2977477465512521
left_sensor_directions: left_sensor_directions:
- -1.0 - -1.0
- 1.0 - -1.0
- -1.0 - -1.0
- -1.0 - -1.0
- -1.0 - -1.0
- 1.0 - 1.0
- 1.0
- -1.0 - -1.0
left_auto_zero_on_first_sample: false - -1.0
left_auto_zero_on_first_sample: true
right_calibrate_now: false right_calibrate_now: false
left_calibrate_now: false left_calibrate_now: false
calibration_yaml_path: /home/shen/openarm_test/src/openarm_joint_sensor/config/joint_sensor_zero_offsets.yaml calibration_yaml_path: /home/shen/openarm_test/src/openarm_joint_sensor/config/joint_sensor_zero_offsets.yaml

18
src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py
View File

@ -537,10 +537,6 @@ class JointSensorNode(Node):
if len(data) < 2: if len(data) < 2:
return None return None
# 通用格式：前2字节角度，默认 centi-rad
# raw = int.from_bytes(data[0:2], byteorder='big', signed=True)
# return self.raw_to_rad(raw)
def wrap_to_pi(self, angle_rad: float) -> float: def wrap_to_pi(self, angle_rad: float) -> float:
# 归一化到 [-pi, pi)，解决 0~2pi 到 ±pi 的过零映射问题 # 归一化到 [-pi, pi)，解决 0~2pi 到 ±pi 的过零映射问题
return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi
@ -562,12 +558,6 @@ class JointSensorNode(Node):
return prev + delta return prev + delta
def raw_to_rad(self, raw_value: int) -> float:
if self.raw_angle_unit == 'centi-deg':
return math.radians(raw_value / 100.0)
# 默认按 centi-rad 处理，适配你当前 0~6.28 弧度输出
return raw_value / 100.0
def parse_sensor_from_can(self, data: bytes): def parse_sensor_from_can(self, data: bytes):
if len(data) == 0: if len(data) == 0:
return 0.0, 0.0 return 0.0, 0.0
@ -587,14 +577,6 @@ class JointSensorNode(Node):
if len(data) < 8: if len(data) < 8:
return 0.0, 0.0 return 0.0, 0.0
# # 通用格式：前2字节为角度，后2字节为速度，默认按 centi-rad 解析
# raw_deg = int.from_bytes(data[0:2], byteorder='big', signed=True)
# rad = self.wrap_to_pi(self.raw_to_rad(raw_deg))
# raw_vel = int.from_bytes(data[2:4], byteorder='big', signed=True)
# vel_rad = self.raw_to_rad(raw_vel)
# return rad, vel_rad
def main(): def main():