benchControl.cpp File Reference
#include <fcntl.h>
#include <math.h>
#include <stdint.h>
#include <sys/time.h>
#include <termios.h>
#include <unistd.h>
#include <fstream>
#include <iostream>
#include "ddp-actuator-solver/romeo_actuator/costfunctionromeoactuator.hh"
#include "ddp-actuator-solver/romeo_actuator/romeosimpleactuator.hh"
#include "ddpsolver.hh"
Include dependency graph for benchControl.cpp:

Functions

uint8_t crc8 (uint8_t crc, uint8_t crc_data)
 
DDPSolver< double, 4, 1 >::stateVec_t getStateFromSerial (int &ser)
 
DDPSolver< double, 4, 1 >::stateVec_t sendCurrentCommand (int &ser, DDPSolver< double, 4, 1 >::commandVec_t u)
 
int main ()
 

Variables

struct timeval current_time last_time
 
uint8_t crc
 
uint8_t send
 
uint8_t received
 
uint16_t posTarget
 
uint8_t requiredJointposH
 
uint8_t requiredJointposL
 
uint8_t requiredSpeedH
 
uint8_t requiredSpeedL
 
uint8_t requiredCurrentH
 
uint8_t requiredCurrentL
 
uint8_t requiredPwmH
 
uint8_t requiredPwmL
 
uint8_t motorH
 
uint8_t motorL
 
int8_t motorTurn
 
uint8_t jointH
 
uint8_t jointL
 
uint8_t currentH
 
uint8_t currentL
 
uint8_t pwmH
 
uint8_t pwmL
 
uint8_t crc1
 
uint8_t crc2
 
uint8_t crcCalc1
 
uint8_t crcCalc2
 
int32_t motorPosInt
 
uint16_t jointPosInt
 
double motorPos
 
double jointPos
 
double motorPosOld
 
double jointPosOld
 
double motorVel
 
double jointVel
 
double diffAngle
 
double diff_time
 

Function Documentation

◆ crc8()

uint8_t crc8 ( uint8_t  crc,
uint8_t  crc_data 
)

◆ getStateFromSerial()

DDPSolver<double, 4, 1>::stateVec_t getStateFromSerial ( int &  ser)

◆ main()

int main ( )

◆ sendCurrentCommand()

DDPSolver<double, 4, 1>::stateVec_t sendCurrentCommand ( int &  ser,
DDPSolver< double, 4, 1 >::commandVec_t  u 
)

Variable Documentation

◆ crc

uint8_t crc

◆ crc1

uint8_t crc1

◆ crc2

uint8_t crc2

◆ crcCalc1

uint8_t crcCalc1

◆ crcCalc2

uint8_t crcCalc2

◆ currentH

uint8_t currentH

◆ currentL

uint8_t currentL

◆ diff_time

double diff_time

◆ diffAngle

double diffAngle

◆ jointH

uint8_t jointH

◆ jointL

uint8_t jointL

◆ jointPos

double jointPos

◆ jointPosInt

uint16_t jointPosInt

◆ jointPosOld

double jointPosOld

◆ jointVel

double jointVel

◆ last_time

struct timeval current_time last_time

◆ motorH

uint8_t motorH

◆ motorL

uint8_t motorL

◆ motorPos

double motorPos

◆ motorPosInt

int32_t motorPosInt

◆ motorPosOld

double motorPosOld

◆ motorTurn

int8_t motorTurn

◆ motorVel

double motorVel

◆ posTarget

uint16_t posTarget

◆ pwmH

uint8_t pwmH

◆ pwmL

uint8_t pwmL

◆ received

uint8_t received

◆ requiredCurrentH

uint8_t requiredCurrentH

◆ requiredCurrentL

uint8_t requiredCurrentL

◆ requiredJointposH

uint8_t requiredJointposH

◆ requiredJointposL

uint8_t requiredJointposL

◆ requiredPwmH

uint8_t requiredPwmH

◆ requiredPwmL

uint8_t requiredPwmL

◆ requiredSpeedH

uint8_t requiredSpeedH

◆ requiredSpeedL

uint8_t requiredSpeedL

◆ send

uint8_t send