torque.cpp

来源：互联网发布：js娱乐公司旗下艺人编辑：程序博客网时间：2024/05/29 03:22
#include "CML_AmpDef.h"#define AMPCT 8//总共的关节的总数#include "CML.h"#include "can_copley.h"#include <cstdio>#include <cstdlib>#include <errno.h>#include "std_msgs/Float32.h"#include "std_msgs/Int8.h"#include "std_msgs/Int16.h"#include <math.h>CML::uunit encoder_count_current=0;int waiting_count=3000;CML::Amp cml_amp[1];//关节CML::CanOpen cml_can;CML::CopleyCAN cml_copley;double position = 1;//设置旋转的角度大小。void anymoves(double pos);void delay(unsigned int a);int main(){    cml_copley.SetName("CAN1");     cml_copley.SetBaud(1000000);     CML::AmpSettings setting;//amplifier settings    setting.resetOnInit = true;//amplifier settings to be used    cml_can.Open(cml_copley);//reference to the CANopen Network for this amp     cml_amp[0].Init(cml_can, 8, setting);//construct and initialize the amplifier object.printf("move  \n");CML::ProfileConfigTrap cml_mode;cml_mode.vel = 2500;//速度cml_mode.acc = 5000;//加速度cml_mode.dec = 5000;//减速度cml_amp[0].DoMove(cml_mode, true);cml_amp[0].SetAmpMode(CML::AMPMODE_CAN_TORQUE);cml_amp[0].StartMove(true);cml_amp[0].SetTorqueTarget(300);sleep(1000);////  printf(" down\n");}
0 0