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Added emergency nortification for temperature and torque to ThermoLimiter #229

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merged 15 commits into from
Oct 10, 2014
Merged

Added emergency nortification for temperature and torque to ThermoLimiter #229

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a1f3b54
Forgotten commit, added init_beep to ThermoLimiter
orikuma May 20, 2014
5c6ac94
Separate isTempError check from limitTemperature and rename calcMaxTo…
orikuma May 20, 2014
eea07d4
Added current/max value to debug message
orikuma May 21, 2014
7223894
Added input buffer size check before calcEmergencyRate
orikuma May 21, 2014
29d2175
Added isDebug method which is alternative of DEBUGP
orikuma May 21, 2014
a309dd9
Debugged initialization problem in motorTemperatureLimit and Modified…
orikuma May 23, 2014
06d8afd
Removed tauIn and qCurrentIn in ThermoLimiter, which is not used for …
orikuma May 29, 2014
9f4c397
Replace DEBUGP to isDebug function in ThermoEstimator
orikuma May 29, 2014
aa5703b
Added emergency beep (notification of current load > max load) to The…
orikuma May 29, 2014
980e425
Added alarmRatio to config property, which defines current/max ratio …
orikuma May 29, 2014
7b6f7f1
Separated estimateJointTemperature process to member function
orikuma May 29, 2014
f6aa5dd
Added error2torque conversion to ThermoEstimator and make servoState …
orikuma May 29, 2014
03ff6f0
Debugged read port miss in inports and modified debug message position
orikuma May 29, 2014
9898518
Fixed default tauMax from model. climit -> climit*gearRatio*torqueConst
orikuma Jul 8, 2014
e4073a2
Connect q and qRef to ThermoEstimator to estimate joint torque from e…
orikuma Sep 12, 2014
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Fixed default tauMax from model. climit -> climit*gearRatio*torqueConst
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@orikuma
orikuma committed Jul 8, 2014
commit 9898518732fd9a627ac21f36bfe6dc12a2f1d3ac
8 changes: 4 additions & 4 deletions rtc/ThermoLimiter/ThermoLimiter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -146,9 +146,9 @@ RTC::ReturnCode_t ThermoLimiter::onInitialize()
std::cerr << (*it).temperature << "," << (*it).currentCoeffs << "," << (*it).thermoCoeffs << ", ";
}
std::cerr << std::endl;
std::cerr << "default climit value:" << std::endl;
std::cerr << "default torque limit from model:" << std::endl;
for (int i = 0; i < m_robot->numJoints(); i++) {
std::cerr << m_robot->joint(i)->name << ":" << m_robot->joint(i)->climit << std::endl;
std::cerr << m_robot->joint(i)->name << ":" << m_robot->joint(i)->climit * m_robot->joint(i)->gearRatio * m_robot->joint(i)->torqueConst << std::endl;
}
}

Expand Down Expand Up @@ -237,7 +237,7 @@ RTC::ReturnCode_t ThermoLimiter::onExecute(RTC::UniqueId ec_id)
calcMaxTorqueFromTemperature(tauMax);
} else {
for (int i = 0; i < m_robot->numJoints(); i++) {
tauMax[i] = m_robot->joint(i)->climit; // default torque limit from model
tauMax[i] = m_robot->joint(i)->climit * m_robot->joint(i)->gearRatio * m_robot->joint(i)->torqueConst; // default torque limit from model
}
}

Expand Down Expand Up @@ -320,7 +320,7 @@ void ThermoLimiter::calcMaxTorqueFromTemperature(hrp::dvector &tauMax)
// determine tauMax
if (squareTauMax[i] < 0) {
std::cerr << "[WARN] tauMax ** 2 = " << squareTauMax[i] << " < 0 in Joint " << i << std::endl;
tauMax[i] = m_robot->joint(i)->climit; // default tauMax from model file
tauMax[i] = m_robot->joint(i)->climit * m_robot->joint(i)->gearRatio * m_robot->joint(i)->torqueConst; // default tauMax from model file
} else {
tauMax[i] = std::sqrt(squareTauMax[i]); // tauMax is absolute value
}
Expand Down