From 5e56927547ac32cea0ad219c38a3dcc753f1852b Mon Sep 17 00:00:00 2001 From: Fabio Vitello Date: Fri, 15 Oct 2021 12:17:16 +0200 Subject: [PATCH] #588 new axis limit, removed debug messages --- .../include/MedMinorServoConstants.hpp | 12 ++++++------ .../MedicinaMinorServo/src/MedMinorServoControl.cpp | 12 ------------ 2 files changed, 6 insertions(+), 18 deletions(-) diff --git a/Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp b/Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp index a75d50b8d..be5350e5f 100755 --- a/Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp +++ b/Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp @@ -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 diff --git a/Medicina/Servers/MedicinaMinorServo/src/MedMinorServoControl.cpp b/Medicina/Servers/MedicinaMinorServo/src/MedMinorServoControl.cpp index 21870bca5..fbffc4b4e 100644 --- a/Medicina/Servers/MedicinaMinorServo/src/MedMinorServoControl.cpp +++ b/Medicina/Servers/MedicinaMinorServo/src/MedMinorServoControl.cpp @@ -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 -- GitLab