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deg limits
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@WT-MM
WT-MM committed Dec 11, 2024
1 parent 711e1c8 commit 7574e88
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Showing 2 changed files with 49 additions and 49 deletions.
92 changes: 46 additions & 46 deletions platforms/kbot/src/lib.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -86,179 +86,179 @@ impl Platform for KbotPlatform {
11,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
12,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
13,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
14,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
15,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
16,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride00,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
// Right Arm
(
21,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
22,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
23,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
24,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
25,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
26,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride00,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
// Left Leg
(
31,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride04,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
32,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
33,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
34,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride04,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
35,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
// Right Leg
(
41,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride04,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
42,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
43,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
44,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride04,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
(
45,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(4.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
},
),
],
Expand All @@ -284,8 +284,8 @@ impl Platform for KbotPlatform {
1,
robstridev2::ActuatorConfiguration {
actuator_type: ActuatorType::RobStride04,
max_angle_change: Some(2.0f32.to_radians()),
max_velocity: Some(10.0f32.to_radians()),
max_angle_change: Some(2.0f32),
max_velocity: Some(10.0f32),
},
)],
)
Expand Down
6 changes: 3 additions & 3 deletions platforms/kbot/src/process_manager.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -245,10 +245,10 @@ impl ProcessManager for KBotProcessManager {
*kclip_uuid = Some(new_uuid.clone());
drop(kclip_uuid);

let (pipeline, _sink) = Self::create_pipeline(&video_path)?;
// let (pipeline, _sink) = Self::create_pipeline(&video_path)?;

// Start the pipeline
pipeline.set_state(gst::State::Playing)?;
// pipeline.set_state(gst::State::Playing)?;

// Start telemetry logger
let logger = TelemetryLogger::new(
Expand All @@ -265,7 +265,7 @@ impl ProcessManager for KBotProcessManager {
drop(telemetry_logger);

let mut pipeline_guard = self.pipeline.lock().await;
*pipeline_guard = Some(pipeline);
*pipeline_guard = None;

Ok(KClipStartResponse {
clip_uuid: Some(new_uuid),
Expand Down

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