Add a GenericRawToTwist Task #13
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| @@ -74,6 +74,42 @@ task_context "GenericRawToMotion2D" do | |||
| port_driven :raw_command | |||
| end | |||
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| # This task converts controldev/RawCommand to base/Twist | |||
| # with configurable axes, ranges and deadzones | |||
| task_context "GenericRawToTwist" do | |||
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- Use comments for documentation (just put the doc as a comment on top of the property/port)
- Let's maybe try to reduce the number of properties ... Could rename
max_*intoscale_*and then one can set a negative scale to get an inversion (no code change apart from the removal ofinvert_) - use
static inlinefunctions instead of macros. No need to set the target within the function, just return the value and set it from the updateHook
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The task was mainly copied from GenericRawToMotion2D (https://github.com/rock-drivers/drivers-orogen-controldev/blob/master/controldev.orogen#L55), including the documentation and property names, I kept the naming scheme for the properties instead of introducing new ones (for a similar task).
Using a static inline function would need to provide all used properties and parameters in the call, currently they are generated by the macro:
_##AXISNAME.get()
_##AXISNAME##_deadzone
invert##AXISNAME
max##AXISNAME
When adding more parameters to the function call, the code would imo become more confusing and more copy/paste error prone. But I don't have strong feelings about that.
Some robotes are better operated by twists, but I wonder if we should add a decent base/commands/Twist to base/types.