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ShijiaPeng03ShijiaPeng03
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修复电流反馈数值异常
1 parent 2e353a5 commit d3fcb07

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8 files changed

+14
-22
lines changed

8 files changed

+14
-22
lines changed

‎hardware_port/__init__.py

-2
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,6 @@
11

22
from .can_encapsulation import C_STD_CAN
33

4-
# 导入 hardware_port 子模块
5-
64
__all__ = [
75
'C_STD_CAN'
86
]

‎monitor/__init__.py

-2
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,6 @@
11

22
from .fps import C_FPSCounter
33

4-
# 导入 hardware_port 子模块
5-
64
__all__ = [
75
'C_FPSCounter'
86
]

‎piper_msgs/msg_v1/feedback/arm_high_spd_feedback.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -97,7 +97,7 @@ def cal_effort(self, current: int = None)-> float:
9797
def __str__(self):
9898
return (f"ArmHighSpdFeedback(\n"
9999
f" can_id: {hex(self.can_id)},\n"
100-
f" motor_speed: {self.motor_speed}, {self.current*0.001} rad/s,\n"
100+
f" motor_speed: {self.motor_speed}, {self.motor_speed*0.001} rad/s,\n"
101101
f" current: {self.current}, {self.current*0.001}A\n"
102102
f" pos: {self.pos} rad\n"
103103
f" effort: {self.effort}, {self.current*0.001}N/m\n"

‎piper_msgs/msg_v2/feedback/arm_high_spd_feedback.py

+1-1
Original file line numberDiff line numberDiff line change
@@ -98,7 +98,7 @@ def cal_effort(self, current: int = None)-> float:
9898
def __str__(self):
9999
return (f"ArmHighSpdFeedback(\n"
100100
f" can_id: {hex(self.can_id)},\n"
101-
f" motor_speed: {self.motor_speed}, {self.current*0.001} rad/s,\n"
101+
f" motor_speed: {self.motor_speed}, {self.motor_speed*0.001} rad/s,\n"
102102
f" current: {self.current}, {self.current*0.001}A\n"
103103
f" pos: {self.pos} rad\n"
104104
f" effort: {self.effort}, {self.effort*0.001}N/m\n"

‎protocol/protocol_v1/__init__.py

-2
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,3 @@
1-
# piper_sdk/protocol/protocol_v1
2-
31
from ..piper_protocol_base import C_PiperParserBase
42
from .piper_protocol_v1 import C_PiperParserV1
53

‎protocol/protocol_v1/piper_protocol_v1.py

+6-6
Original file line numberDiff line numberDiff line change
@@ -122,37 +122,37 @@ def DecodeMessage(self, rx_can_frame: Optional[can.Message], msg:PiperMessage):
122122
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
123123
msg.arm_high_spd_feedback_1.can_id = can_id
124124
msg.arm_high_spd_feedback_1.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
125-
msg.arm_high_spd_feedback_1.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
125+
msg.arm_high_spd_feedback_1.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
126126
msg.arm_high_spd_feedback_1.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
127127
elif(can_id == CanIDPiper.ARM_INFO_HIGH_SPD_FEEDBACK_2.value):
128128
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
129129
msg.arm_high_spd_feedback_2.can_id = can_id
130130
msg.arm_high_spd_feedback_2.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
131-
msg.arm_high_spd_feedback_2.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
131+
msg.arm_high_spd_feedback_2.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
132132
msg.arm_high_spd_feedback_2.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
133133
elif(can_id == CanIDPiper.ARM_INFO_HIGH_SPD_FEEDBACK_3.value):
134134
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
135135
msg.arm_high_spd_feedback_3.can_id = can_id
136136
msg.arm_high_spd_feedback_3.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
137-
msg.arm_high_spd_feedback_3.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
137+
msg.arm_high_spd_feedback_3.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
138138
msg.arm_high_spd_feedback_3.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
139139
elif(can_id == CanIDPiper.ARM_INFO_HIGH_SPD_FEEDBACK_4.value):
140140
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
141141
msg.arm_high_spd_feedback_4.can_id = can_id
142142
msg.arm_high_spd_feedback_4.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
143-
msg.arm_high_spd_feedback_4.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
143+
msg.arm_high_spd_feedback_4.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
144144
msg.arm_high_spd_feedback_4.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
145145
elif(can_id == CanIDPiper.ARM_INFO_HIGH_SPD_FEEDBACK_5.value):
146146
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
147147
msg.arm_high_spd_feedback_5.can_id = can_id
148148
msg.arm_high_spd_feedback_5.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
149-
msg.arm_high_spd_feedback_5.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
149+
msg.arm_high_spd_feedback_5.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
150150
msg.arm_high_spd_feedback_5.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
151151
elif(can_id == CanIDPiper.ARM_INFO_HIGH_SPD_FEEDBACK_6.value):
152152
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
153153
msg.arm_high_spd_feedback_6.can_id = can_id
154154
msg.arm_high_spd_feedback_6.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
155-
msg.arm_high_spd_feedback_6.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
155+
msg.arm_high_spd_feedback_6.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
156156
msg.arm_high_spd_feedback_6.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
157157
# 驱动器信息低速反馈,Low-Speed Driver Information Feedback
158158
elif(can_id == CanIDPiper.ARM_INFO_LOW_SPD_FEEDBACK_1.value):

‎protocol/protocol_v2/__init__.py

-2
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,3 @@
1-
# piper_sdk/protocol/protocol_v1
2-
31
from ..piper_protocol_base import C_PiperParserBase
42
from .piper_protocol_v2 import C_PiperParserV2
53

‎protocol/protocol_v2/piper_protocol_v2.py

+6-6
Original file line numberDiff line numberDiff line change
@@ -123,37 +123,37 @@ def DecodeMessage(self, rx_can_frame: Optional[can.Message], msg:PiperMessage):
123123
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
124124
msg.arm_high_spd_feedback_1.can_id = can_id
125125
msg.arm_high_spd_feedback_1.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
126-
msg.arm_high_spd_feedback_1.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
126+
msg.arm_high_spd_feedback_1.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
127127
msg.arm_high_spd_feedback_1.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
128128
elif(can_id == CanIDPiper.ARM_INFO_HIGH_SPD_FEEDBACK_2.value):
129129
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
130130
msg.arm_high_spd_feedback_2.can_id = can_id
131131
msg.arm_high_spd_feedback_2.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
132-
msg.arm_high_spd_feedback_2.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
132+
msg.arm_high_spd_feedback_2.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
133133
msg.arm_high_spd_feedback_2.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
134134
elif(can_id == CanIDPiper.ARM_INFO_HIGH_SPD_FEEDBACK_3.value):
135135
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
136136
msg.arm_high_spd_feedback_3.can_id = can_id
137137
msg.arm_high_spd_feedback_3.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
138-
msg.arm_high_spd_feedback_3.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
138+
msg.arm_high_spd_feedback_3.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
139139
msg.arm_high_spd_feedback_3.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
140140
elif(can_id == CanIDPiper.ARM_INFO_HIGH_SPD_FEEDBACK_4.value):
141141
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
142142
msg.arm_high_spd_feedback_4.can_id = can_id
143143
msg.arm_high_spd_feedback_4.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
144-
msg.arm_high_spd_feedback_4.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
144+
msg.arm_high_spd_feedback_4.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
145145
msg.arm_high_spd_feedback_4.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
146146
elif(can_id == CanIDPiper.ARM_INFO_HIGH_SPD_FEEDBACK_5.value):
147147
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
148148
msg.arm_high_spd_feedback_5.can_id = can_id
149149
msg.arm_high_spd_feedback_5.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
150-
msg.arm_high_spd_feedback_5.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
150+
msg.arm_high_spd_feedback_5.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
151151
msg.arm_high_spd_feedback_5.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
152152
elif(can_id == CanIDPiper.ARM_INFO_HIGH_SPD_FEEDBACK_6.value):
153153
msg.type_ = ArmMessageMapping.get_mapping(can_id=can_id)
154154
msg.arm_high_spd_feedback_6.can_id = can_id
155155
msg.arm_high_spd_feedback_6.motor_speed = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,0,2))
156-
msg.arm_high_spd_feedback_6.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4),False)
156+
msg.arm_high_spd_feedback_6.current = self.ConvertToNegative_16bit(self.ConvertBytesToInt(can_data,2,4))
157157
msg.arm_high_spd_feedback_6.pos = self.ConvertToNegative_32bit(self.ConvertBytesToInt(can_data,4,8))
158158
# print(msg.arm_high_spd_feedback_6)
159159
# 驱动器信息低速反馈,Low-Speed Driver Information Feedback

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