Commit 1210c470 authored by Simon Markus Haller-Seeber's avatar Simon Markus Haller-Seeber
Browse files

Added more of the LSS 4 DOF ROS Control. Can't test it from home - sorry. Hope this helps.

parent e03a21e9
......@@ -127,28 +127,28 @@ namespace lss_4dof_hw_interface
serial << "#0QD" << std::endl ;
myposstr << serial.Readline() ;
// Diveded by 10 because we get 1/10 degree and converted tor rad
pos_double = std::stod(myposstr.substr(4))/10*0.017453 ;
pos_double = std::stod(myposstr.substr(4))/10*(M_PI/180) ;
myposstr="";
joint_position_.push_back(pos_double);
serial << "#1QD" << std::endl ;
myposstr << serial.Readline() ;
// Diveded by 10 because we get 1/10 degree and converted tor rad
pos_double = std::stod(myposstr.substr(4))/10*0.017453;
pos_double = std::stod(myposstr.substr(4))/10*(M_PI/180);
myposstr="";
joint_position_.push_back(pos_double);
serial << "#2QD" << std::endl ;
myposstr << serial.Readline() ;
// Diveded by 10 because we get 1/10 degree and converted tor rad
pos_double = std::stod(myposstr.substr(4))/10*0.017453;
pos_double = std::stod(myposstr.substr(4))/10*(M_PI/180);
myposstr="";
joint_position_.push_back(pos_double);
serial << "#3QD" << std::endl ;
myposstr << serial.Readline() ;
// Diveded by 10 because we get 1/10 degree and converted tor rad
pos_double = std::stod(myposstr.substr(4))/10*0.017453;
pos_double = std::stod(myposstr.substr(4))/10*(M_PI/180);
myposstr="";
joint_position_.push_back(pos_double);
......
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