#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"
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 |
uint8_t crc8 | ( | uint8_t | crc, |
uint8_t | crc_data | ||
) |
DDPSolver<double, 4, 1>::stateVec_t getStateFromSerial | ( | int & | ser | ) |
int main | ( | ) |
DDPSolver<double, 4, 1>::stateVec_t sendCurrentCommand | ( | int & | ser, |
DDPSolver< double, 4, 1 >::commandVec_t | u | ||
) |
uint8_t crc |
uint8_t crc1 |
uint8_t crc2 |
uint8_t crcCalc1 |
uint8_t crcCalc2 |
uint8_t currentH |
uint8_t currentL |
double diff_time |
double diffAngle |
uint8_t jointH |
uint8_t jointL |
double jointPos |
uint16_t jointPosInt |
double jointPosOld |
double jointVel |
struct timeval current_time last_time |
uint8_t motorH |
uint8_t motorL |
double motorPos |
int32_t motorPosInt |
double motorPosOld |
int8_t motorTurn |
double motorVel |
uint16_t posTarget |
uint8_t pwmH |
uint8_t pwmL |
uint8_t received |
uint8_t requiredCurrentH |
uint8_t requiredCurrentL |
uint8_t requiredJointposH |
uint8_t requiredJointposL |
uint8_t requiredPwmH |
uint8_t requiredPwmL |
uint8_t requiredSpeedH |
uint8_t requiredSpeedL |
uint8_t send |