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mani_test

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This commit is contained in:
ZhangWanjie 2017-12-24 18:12:15 +08:00
parent b36184e35d
commit 3ef6ab5007
3 changed files with 5 additions and 17 deletions
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10
wpb_home_bringup/src/wpb_home_test_mani.cpp
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@ -43,7 +43,7 @@
#define WPBH_TEST_MANI_UP 2 #define WPBH_TEST_MANI_UP 2
#define WPBH_TEST_MANI_FOLD 3 #define WPBH_TEST_MANI_FOLD 3
#define CMD_WAIT_SEC 6 #define CMD_WAIT_SEC 10
static int nState = WPBH_TEST_MANI_ZERO; static int nState = WPBH_TEST_MANI_ZERO;
static int nCount = 0; static int nCount = 0;
@ -70,7 +70,7 @@ int main(int argc, char** argv)
ROS_INFO("[Mani] ZERO -> DOWN... %d",nCount); ROS_INFO("[Mani] ZERO -> DOWN... %d",nCount);
if (nCount == 0) if (nCount == 0)
{ {
m_wpb_home.ManiCtrl( 11200, 1000, 50000, 1000); m_wpb_home.ManiCtrl( 11200, 1000, 50000, 80);
} }
nCount ++; nCount ++;
if(nCount >= CMD_WAIT_SEC) if(nCount >= CMD_WAIT_SEC)
@ -83,7 +83,7 @@ int main(int argc, char** argv)
ROS_INFO("[Mani] DOWN -> UP ... %d",nCount); ROS_INFO("[Mani] DOWN -> UP ... %d",nCount);
if (nCount == 0) if (nCount == 0)
{ {
m_wpb_home.ManiCtrl( 55000, 1000, 0, 1000); m_wpb_home.ManiCtrl( 55000, 1000, 50000, 80);
} }
nCount ++; nCount ++;
if(nCount >= CMD_WAIT_SEC) if(nCount >= CMD_WAIT_SEC)
@ -96,7 +96,7 @@ int main(int argc, char** argv)
ROS_INFO("[Mani] UP -> DOWN ... %d",nCount); ROS_INFO("[Mani] UP -> DOWN ... %d",nCount);
if (nCount == 0) if (nCount == 0)
{ {
m_wpb_home.ManiCtrl( 11200, 1000, 0, 1000); m_wpb_home.ManiCtrl( 11200, 1000, 0, 80);
} }
nCount ++; nCount ++;
if(nCount >= CMD_WAIT_SEC) if(nCount >= CMD_WAIT_SEC)
@ -109,7 +109,7 @@ int main(int argc, char** argv)
ROS_INFO("[Mani] DOWN -> ZERO ... %d",nCount); ROS_INFO("[Mani] DOWN -> ZERO ... %d",nCount);
if (nCount == 0) if (nCount == 0)
{ {
m_wpb_home.ManiCtrl( 0, 1000, 0, 1000); m_wpb_home.ManiCtrl( 0, 1000, 0, 80);
} }
nCount ++; nCount ++;
if(nCount >= CMD_WAIT_SEC) if(nCount >= CMD_WAIT_SEC)

5
wpb_home_tutorials/maps/map.pgm
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File diff suppressed because one or more lines are too long

7
wpb_home_tutorials/maps/map.yaml
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@ -1,7 +0,0 @@
image: map.pgm
resolution: 0.050000
origin: [-25.624998, -25.624998, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196