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Implement open loop velocity control for SetJoints

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This commit is contained in:
AntoineH 2024-09-04 19:27:08 +02:00
parent b5f7c5624b
commit be4278356f
4 changed files with 99 additions and 14 deletions
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19
src/cmd/controller/setJoints.go
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@ -18,10 +18,6 @@ import (
pb "github.com/AntoineHX/multi-motors-controller/src/proto"
)
var(
tgt_angles = []float64{} //TODO: Add to cobra config
)
//Cobra CLI
// setJointsCmd represents the setJoints command
var setJointsCmd = &cobra.Command{
@ -29,8 +25,13 @@ var setJointsCmd = &cobra.Command{
Short: "setJoints command descritpion",
Long: `setJoints command descritpion`,
Run: func(cmd *cobra.Command, args []string) {
fmt.Println("setJoints called with target :", cmd.Flag("vel").Value)
SetJoints()
fmt.Println("setJoints called with target :", cmd.Flag("j").Value)
tgt_angles, err:=cmd.Flags().GetFloat64Slice("j")
if err!= nil {
log.Fatalf("Failed read requested velocities %v", err)
}else{
SetJoints(tgt_angles)
}
},
}
@ -47,12 +48,12 @@ func init() {
// is called directly, e.g.:
//TODO: Anonymous flag (with anonymous flag group ?)
//TODO: Fix input of multiple values as slice
setJointsCmd.Flags().Float64SliceVar(&tgt_angles, "vel", nil, "Target joint values") //or IntSlice ?
setJointsCmd.MarkFlagRequired("vel")
setJointsCmd.Flags().Float64Slice("j", nil, "Target joint values") //or IntSlice ?
setJointsCmd.MarkFlagRequired("j")
}
//gRPC Client
func SetJoints(){
func SetJoints(tgt_angles []float64){
// Set up a connection to the server.
var addr = fmt.Sprintf("%s:%d", ip, port) //Defined in controller/serve
conn, err := grpc.NewClient(addr, grpc.WithTransportCredentials(insecure.NewCredentials()))