CDRFLEx.servoj_rt

Features

This is a function that controls the joint position from an external controller.

Caution

The current servoj_rt command is premature. Jerky motion may appear depending on the communication situation, so it is recommended to tune the target time (fTargetTime) and use it with a slow response speed, or use the speedj_rt command to control the position.

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]	-	Target Joint Position [deg]
fTargetVel	float[6]	-	Target Joint Velocity [deg/s]. If None Values(-10000) entered, it is automatically calculated based on the target joint position you entered.
fTargetAcc	float[6]	-	Target Joint Acceleration [deg/s2]. If None Values(-10000) entered, it is automatically calculated based on the target joint position you entered.
fTargetTime	float	-	Target Time [s]

Note

Asnyc command.
The inner profile is interpolated to arrive at (fTargetPos, fTargetVel, fTargetAcc) at fTargetTime .
If fTargetTime <= controller’s control period (=1ms) is entered, it controls to the corresponding position without interpolation.
If the next command is not received until arriving at fTargetPos, it decelerates based on the set global acceleration value.

Caution

The current servoj_rt command is premature, so jerky motion may come out. Depending on the system situation, set fTargetTime to be larger than the communication period and use it. In the current version, it is recommended to use a setting larger than fTargetTime >= 20 [ms] or use speedj_rt to control the position based on calling the servoj_rt command at an interval of 1 [ms].
In the current version, it is not linked with Operation Speed [%].

Return

Value	Description
0	Error
1	Success

Example

CPP

// main.cpp
CDRFLEx drfl;
drfl.connect_rt_control();
string version = “v1.0”;
float period = 0.001; // 1 msec
int losscount = 4;
Drfl.set_on_rt_monitoring_data(OnRTMonitoringData);
drfl.set_rt_control_output(version, period, losscount);
drfl.start_rt_control();

float time = 0.0;
int count = 0;
float ratio = 20.0;
float q[NUMBER_OF_JOINT] = {0.0, };
float q_dot[NUMBER_OF_JOINT] = {0.0, };
float q_d[NUMBER_OF_JOINT] = {0.0, };
float q_dot_d[NUMBER_OF_JOINT] = {0.0, };
float integral_v_error[NUMBER_OF_JOINT] = {0.0, };
while (1)
{

    time=(++count)*period;

    // get current state
    memcpy(q, drfl.read_data_rt()->actual_joint_position, sizeof(float)*6);
    memcpy(q_dot, drfl.read_data_rt()->actual_joint_velocity, sizeof(float)*6);

    // make trajectory
    TrajectoryGenerator(q_d, q_dot_d, q_ddot_d); // Custom Trajectory Generation Function

    // or make target position and target velocity, acceleration can be omitted
    TrajectoryGenerator(q_d);
    for (int i=0; i<NUMBER_OF_JOINT; i++) {
        q_dot_d[i] = -10000;
        q_ddot_d[i] = -10000;
    }

    drfl.servoj_rt(q_d, q_dot_d, q_ddot_d, ratio*period); // Currently tuning ratio

    if(time > plan1.time)
    {
        time=0;
        Drfl.stop(STOP_TYPE_SLOW);
        break;
    }

    rt_task_wait_period(NULL); // RTOS function
}