Commit 5e569275 authored by Fabio Vitello's avatar Fabio Vitello
Browse files

#588 new axis limit, removed debug messages

parent 2878f1f3

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp

+6 −6
Original line number Diff line number Diff line
@@ -13,12 +13,12 @@ struct MedMinorServoAxis_tag 
    double speed_max;

} MedMinorServoAxis;



const MedMinorServoAxis MINOR_SERVO_X = { "X", -80, 70, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_YP = { "YP", -362.5, 2.5, 0.0, 0.05, 0.01, 8.0 };

const MedMinorServoAxis MINOR_SERVO_X = { "X", -80, 80, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_YP = { "YP", -5, 395, 0.0, 0.05, 0.01, 8.0 };

const MedMinorServoAxis MINOR_SERVO_Y = { "Y", -80, 80, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_ZP = { "ZP", -337.5, 7.5, 0.0, 0.05, 0.01, 8.0 };

const MedMinorServoAxis MINOR_SERVO_Z1 = { "Z1", -115, 115, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_Z2 = { "Z2", -115, 115, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_Z3 = { "Z3", -115, 115, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_ZP = { "ZP", -5, 345, 0.0, 0.05, 0.01, 8.0 };

const MedMinorServoAxis MINOR_SERVO_Z1 = { "Z1", -125, 125, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_Z2 = { "Z2", -125, 125, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_Z3 = { "Z3", -125, 125, 0.0, 0.05, 0.01, 14.0 };



#endif
 
 No newline at end of file

Medicina/Servers/MedicinaMinorServo/src/MedMinorServoControl.cpp

+0 −12
Original line number Diff line number Diff line
@@ -143,9 +143,6 @@ MedMinorServoControl::set_position(const MedMinorServoPosition& position) 
    _commanded_status.enable = 1;

    _commanded_status.acknowledge = 0;

    _send_commanded_status();

    CUSTOM_LOG(LM_FULL_INFO,

               "MinorServo::MedMinorServoControl::set_position",

               (LM_DEBUG, "set new position"));

}



void
@@ -172,9 +169,6 @@ MedMinorServoControl::set_position_with_speed(const MedMinorServoPosition& posit 
    _commanded_status.vel_z3 = speed;

    

    _send_commanded_status();

    CUSTOM_LOG(LM_FULL_INFO,

               "MinorServo::MedMinorServoControl::set_position_with_speed",

               (LM_DEBUG, "set new position"));

}



void
@@ -211,9 +205,6 @@ MedMinorServoControl::set_position_with_time(const MedMinorServoPosition& positi 
                                _commanded_status.pos_z3) / time_offset;

    }

    _send_commanded_status();

    CUSTOM_LOG(LM_FULL_INFO,

               "MinorServo::MedMinorServoControl::set_position_with_time",

               (LM_DEBUG, "set new position"));

}



void
@@ -222,9 +213,6 @@ MedMinorServoControl::set_last_position() 
    boost::mutex::scoped_lock lock(_command_guard);

    boost::recursive_mutex::scoped_lock rlock(_read_guard);

    _send_commanded_status();

    CUSTOM_LOG(LM_FULL_INFO,

               "MinorServo::MedMinorServoControl::set_last_position",

               (LM_DEBUG, "set new position"));

}



MedMinorServoPosition