solid-sinusoid/dh_ag95_gripper_ros2
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invert gripper position in hw interface

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This commit is contained in:
Ian Chuang 2024-06-14 10:11:45 -07:00
parent bee93edb92
commit 0fcb93fec8
1 changed files with 2 additions and 2 deletions
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4
dh_gripper_driver/src/hardware_interface.cpp
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@ -296,7 +296,7 @@ DHGripperHardwareInterface::on_deactivate(const rclcpp_lifecycle::State& /*previ
hardware_interface::return_type DHGripperHardwareInterface::read(const rclcpp::Time& /*time*/,
const rclcpp::Duration& /*period*/)
{
gripper_position_ = gripper_closed_pos_ * (gripper_current_state_.load() - kGripperMinPos) / kGripperRangePos;
gripper_position_ = gripper_closed_pos_ * (kGripperMaxPos - gripper_current_state_.load()) / kGripperRangePos;
// print in dec
@ -319,7 +319,7 @@ hardware_interface::return_type DHGripperHardwareInterface::read(const rclcpp::T
hardware_interface::return_type DHGripperHardwareInterface::write(const rclcpp::Time& /*time*/,
const rclcpp::Duration& /*period*/)
{
uint16_t gripper_pos = (gripper_position_command_ / gripper_closed_pos_) * kGripperRangePos + kGripperMinPos;
uint16_t gripper_pos = kGripperMaxPos - (gripper_position_command_ / gripper_closed_pos_) * kGripperRangePos;
gripper_pos = std::max(std::min(gripper_pos, kGripperMaxPos), kGripperMinPos);
write_command_.store(gripper_pos);
uint8_t gripper_force = gripper_force_ * kGripperRangeForce + kGripperMinForce;