Commit 58c24354 authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Fix SRTMinorServoCommandLibrary programTrack start_time issue

parent 1e62629e

SRT/Libraries/SRTMinorServoLibrary/src/SRTMinorServoCommandLibrary.cpp

+5 −5
Original line number Diff line number Diff line
@@ -5,6 +5,7 @@ 
 */



#include <iostream>

#include <iomanip>

#include <algorithm>

#include "SRTMinorServoCommandLibrary.h"
@@ -47,7 +48,7 @@ std::string SRTMinorServoCommandLibrary::preset(std::string servo_id, std::vecto 
    command << "PRESET=" << servo_id;

    for(unsigned int coordinate = 0; coordinate < coordinates.size(); coordinate++)

    {

        command << "," << coordinates[coordinate];

        command << "," << std::fixed << std::setprecision(6) << coordinates[coordinate];

    }

    command << CLOSER;

    return command.str();
@@ -59,8 +60,7 @@ std::string SRTMinorServoCommandLibrary::programTrack(std::string servo_id, long 
    command << "PROGRAMTRACK=" << servo_id << "," << trajectory_id << "," << point_id << ",";

    if(start_time > 0)

    {

        long unsigned int start_time_int = (long unsigned int)(start_time * 1000);

        command << start_time_int;

        command << std::fixed << std::setprecision(6) << start_time;

    }

    else

    {
@@ -69,7 +69,7 @@ std::string SRTMinorServoCommandLibrary::programTrack(std::string servo_id, long 
    

    for(unsigned int coordinate = 0; coordinate < coordinates.size(); coordinate++)

    {

        command << "," << coordinates[coordinate];

        command << "," << std::fixed << std::setprecision(6) << coordinates[coordinate];

    }

    command << CLOSER;

    return command.str();
@@ -81,7 +81,7 @@ std::string SRTMinorServoCommandLibrary::offset(std::string servo_id, std::vecto 
    command << "OFFSET=" << servo_id;

    for(unsigned int coordinate = 0; coordinate < coordinates.size(); coordinate++)

    {

        command << "," << coordinates[coordinate];

        command << "," << std::fixed << std::setprecision(6) << coordinates[coordinate];

    }

    command << CLOSER;

    return command.str();