Added JuankaEmika to sas_robot_driver_franka
This commit is contained in:
Juancho
590
qt/configuration_window/mainwindow.cpp
Normal file
590
qt/configuration_window/mainwindow.cpp
Normal file
@@ -0,0 +1,590 @@
|
||||
#include "mainwindow.h"
|
||||
#include "./ui_mainwindow.h"
|
||||
#include <QMessageBox>
|
||||
#include <QDebug>
|
||||
|
||||
MainWindow::MainWindow(QWidget *parent)
|
||||
: QMainWindow(parent)
|
||||
, ui(new Ui::MainWindow)
|
||||
{
|
||||
ui->setupUi(this);
|
||||
timerId = startTimer(50);
|
||||
|
||||
ui->statusbar->addPermanentWidget(ui->label_author);
|
||||
ui->label_author->setText("Juan Jose Quiroz Omana");
|
||||
ui->statusbar->showMessage("Welcome to JuankaEmika", 5000);
|
||||
ui->lineEdit_robotIp->setText("172.16.0.2");
|
||||
|
||||
reference_joint_x_
|
||||
= {ui->reference_joint_1, ui->reference_joint_2, ui->reference_joint_3,
|
||||
ui->reference_joint_4, ui->reference_joint_5, ui->reference_joint_6,
|
||||
ui->reference_joint_7};
|
||||
|
||||
label_ref_joint_x_
|
||||
={ui->label_ref_joint_1, ui->label_ref_joint_2, ui->label_ref_joint_3,
|
||||
ui->label_ref_joint_4, ui->label_ref_joint_5, ui->label_ref_joint_6,
|
||||
ui->label_ref_joint_7};
|
||||
|
||||
spin_box_read_joint_x_
|
||||
= {ui->doubleSpinBox_q_1, ui->doubleSpinBox_q_2, ui->doubleSpinBox_q_3,
|
||||
ui->doubleSpinBox_q_4, ui->doubleSpinBox_q_5, ui->doubleSpinBox_q_6,
|
||||
ui->doubleSpinBox_q_7};
|
||||
|
||||
spin_box_read_deg_joint_x_
|
||||
= {ui->doubleSpinBox_deg_q_1, ui->doubleSpinBox_deg_q_2, ui->doubleSpinBox_deg_q_3,
|
||||
ui->doubleSpinBox_deg_q_4, ui->doubleSpinBox_deg_q_5, ui->doubleSpinBox_deg_q_6,
|
||||
ui->doubleSpinBox_deg_q_7};
|
||||
|
||||
spin_box_read_deg_joint_vel_x_
|
||||
={ui->doubleSpinBox_q_dot_1, ui->doubleSpinBox_q_dot_2, ui->doubleSpinBox_q_dot_3,
|
||||
ui->doubleSpinBox_q_dot_4, ui->doubleSpinBox_q_dot_5, ui->doubleSpinBox_q_dot_6,
|
||||
ui->doubleSpinBox_q_dot_7,};
|
||||
|
||||
enable_reference_sliders(false);
|
||||
ui->pushButton_robotHoming->setEnabled(false);
|
||||
ui->pushButton_handHoming->setEnabled(false);
|
||||
ui->pushButton_default_ref->setEnabled(false);
|
||||
ui->pushButton_joint_commands->setEnabled(false);
|
||||
ui->pushButton_move_hand->setEnabled(false);
|
||||
|
||||
ui->horizontalSlider_gripper->setEnabled(false);
|
||||
ui->horizontalSlider_gripper->setRange(0, 800);
|
||||
ui->horizontalSlider_gripper->setSliderPosition(500);
|
||||
|
||||
ui->checkBox_handGripper->setCheckState(Qt::Checked);
|
||||
ui->checkBox_handGripper->setEnabled(false);
|
||||
//ui->checkBox_robotHoming->setEnabled(false);
|
||||
//ui->checkBox_homingGripper->setEnabled(false);
|
||||
//ui->checkBox_joint_commands->setEnabled(false);
|
||||
//ui->checkBox_move_hand->setEnabled(false);
|
||||
enable_check_boxes(false);
|
||||
|
||||
ui->pushButton_led->setEnabled(false);
|
||||
|
||||
ui->pushButton_initialize->setEnabled(false);
|
||||
ui->pushButton_deinitialize->setEnabled(false);
|
||||
ui->pushButton_disconnect->setEnabled(false);
|
||||
|
||||
set_push_button_color(ui->pushButton_connect, green_color_);
|
||||
set_push_button_color(ui->pushButton_initialize, gray_color_);
|
||||
set_push_button_color(ui->pushButton_deinitialize, gray_color_);
|
||||
set_push_button_color(ui->pushButton_disconnect, gray_color_);
|
||||
|
||||
set_reference_sliders(q_rest_configuration_);
|
||||
set_push_button_color(ui->pushButton_joint_commands, gray_color_);
|
||||
set_push_button_color(ui->pushButton_default_ref, gray_color_);
|
||||
set_push_button_color(ui->pushButton_handHoming, gray_color_);
|
||||
set_push_button_color(ui->pushButton_move_hand, gray_color_);
|
||||
set_push_button_color(ui->pushButton_robotHoming, gray_color_);
|
||||
std::cout<<"---------------------------------------------------------------"<<std::endl;
|
||||
std::cout<<"---------------------------------------------------------------"<<std::endl;
|
||||
std::cout << R"(
|
||||
_ _ ______ _ _
|
||||
| | | | | ____| (_) |
|
||||
| |_ _ __ _ _ __ | | ____ _ | |__ _ __ ___ _| | ____ _
|
||||
_ | | | | |/ _` | '_ \| |/ / _` | | __| | '_ ` _ \| | |/ / _` |
|
||||
| |__| | |_| | (_| | | | | < (_| | | |____| | | | | | | < (_| |
|
||||
\____/ \__,_|\__,_|_| |_|_|\_\__,_| |______|_| |_| |_|_|_|\_\__,_|
|
||||
|
||||
)" << '\n';
|
||||
std::cout<<"-----------------------------------------------------------------"<<std::endl;
|
||||
std::cout<<"-----------------------------------------------------------------"<<std::endl;
|
||||
}
|
||||
|
||||
//const VectorXd q_rest_configuration_ =(VectorXd(7)<<0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4).finished();
|
||||
|
||||
MainWindow::~MainWindow()
|
||||
{
|
||||
delete ui;
|
||||
killTimer(timerId);
|
||||
}
|
||||
|
||||
void MainWindow::enable_check_boxes(const bool& state)
|
||||
{
|
||||
ui->checkBox_robotHoming->setEnabled(state);
|
||||
ui->checkBox_homingGripper->setEnabled(state);
|
||||
ui->checkBox_joint_commands->setEnabled(state);
|
||||
ui->checkBox_move_hand->setEnabled(state);
|
||||
}
|
||||
|
||||
void MainWindow::update_status_bar(const std::string &message)
|
||||
{
|
||||
ui->statusbar->showMessage(QString::fromStdString(message), 5000);
|
||||
}
|
||||
|
||||
void MainWindow::set_reference_sliders(const VectorXd& q_initial)
|
||||
{
|
||||
|
||||
|
||||
/*
|
||||
connect(ui->reference_joint_1, SIGNAL(valueChanged(int)),
|
||||
ui->label_ref_joint_1, SLOT(setValue(int)));
|
||||
|
||||
*/
|
||||
Eigen::VectorXd q_max_ =
|
||||
(Eigen::VectorXd(7)<< 130, 85, 140, -25, 140, 240, 150).finished();
|
||||
Eigen::VectorXd q_min_ =
|
||||
(Eigen::VectorXd(7)<<-130,-85, -140, -150, -140, 48, -150).finished();
|
||||
|
||||
|
||||
int i=0;
|
||||
for (auto& elem : reference_joint_x_)
|
||||
{
|
||||
elem->setRange(q_min_[i], q_max_[i]);
|
||||
elem->setSliderPosition((180/M_PI)*q_initial[i]);
|
||||
label_ref_joint_x_[i]->setText(QString::number((180/M_PI)*q_initial[i]));
|
||||
i++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void MainWindow::enable_reference_sliders(const bool& status)
|
||||
{
|
||||
ui->pushButton_joint_commands->setDisabled(status);
|
||||
for (auto& elem : reference_joint_x_)
|
||||
{
|
||||
elem->setEnabled(status);
|
||||
}
|
||||
}
|
||||
|
||||
void MainWindow::set_push_button_color(QPushButton *push_button, const QColor &color)
|
||||
{
|
||||
push_button->setStyleSheet(QString("background-color: %1").arg(color.name()));
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void MainWindow::on_pushButton_connect_clicked()
|
||||
{
|
||||
QString robotIp = ui->lineEdit_robotIp->text();
|
||||
std::string robotIp_std = robotIp.toStdString();
|
||||
|
||||
//QMessageBox::about(this,"title", "This will move the robot!");
|
||||
//QMessageBox::critical(this, "Title", "Hey hey");
|
||||
auto mode_txt = ui->comboBox->currentText().toStdString();
|
||||
RobotInterfaceFranka::MODE MODE;
|
||||
if (mode_txt== std::string("None"))
|
||||
{
|
||||
MODE = RobotInterfaceFranka::MODE::None;
|
||||
}else if (mode_txt== std::string("PositionControl"))
|
||||
{
|
||||
MODE = RobotInterfaceFranka::MODE::PositionControl;
|
||||
}else if (mode_txt== std::string("VelocityControl"))
|
||||
{
|
||||
MODE = RobotInterfaceFranka::MODE::VelocityControl;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::runtime_error(std::string("Wrong mode. "));
|
||||
}
|
||||
|
||||
|
||||
//qDebug()<<"Robot pointer: "<< !!robot_driver_franka_sptr_;
|
||||
if (!robot_driver_franka_sptr_)
|
||||
{
|
||||
//qDebug()<<"Create Pointer ";
|
||||
robot_driver_franka_sptr_ = std::make_shared<RobotInterfaceFranka>(robotIp_std,
|
||||
MODE,
|
||||
RobotInterfaceFranka::HAND::ON);
|
||||
|
||||
}
|
||||
|
||||
robot_driver_franka_sptr_->connect();
|
||||
q_rest_configuration_ = robot_driver_franka_sptr_->get_home_robot_configuration();
|
||||
set_reference_sliders(robot_driver_franka_sptr_->get_joint_positions());
|
||||
connect_flag_ = true;
|
||||
initialize_flag_ = false;
|
||||
deinitialize_flag_ = false;
|
||||
disconnect_flag_ = false;
|
||||
|
||||
enable_push_button(ui->pushButton_connect, false);
|
||||
enable_push_button(ui->pushButton_initialize, true);
|
||||
enable_push_button(ui->pushButton_disconnect, true);
|
||||
|
||||
auto max_width = robot_driver_franka_sptr_->read_gripper(RobotInterfaceFranka::MAX_WIDTH);
|
||||
ui->horizontalSlider_gripper->setRange(100, int(max_width*10000)-100);
|
||||
auto width = robot_driver_franka_sptr_->read_gripper(RobotInterfaceFranka::WIDTH);
|
||||
ui->doubleSpinBox_hand->setValue(width);
|
||||
|
||||
//qDebug()<<"Hola: "<< mode_txt ;
|
||||
}
|
||||
|
||||
void MainWindow::on_pushButton_initialize_clicked()
|
||||
{
|
||||
QMessageBox::warning(this, "Warning", "Initialize can move the robot. "
|
||||
"Please make sure to have the user stop button at hand! "
|
||||
"Use at your own risk");
|
||||
|
||||
enable_push_button(ui->pushButton_initialize, false);
|
||||
enable_push_button(ui->pushButton_deinitialize, true);
|
||||
enable_push_button(ui->pushButton_disconnect, false);
|
||||
initialize_flag_ = true;
|
||||
robot_driver_franka_sptr_->initialize();
|
||||
enable_check_boxes(true);
|
||||
|
||||
}
|
||||
|
||||
void MainWindow::on_pushButton_deinitialize_clicked()
|
||||
{
|
||||
enable_push_button(ui->pushButton_deinitialize, false);
|
||||
enable_push_button(ui->pushButton_disconnect, true);
|
||||
|
||||
initialize_flag_ = false;
|
||||
deinitialize_flag_ = true;
|
||||
enable_check_boxes(false);
|
||||
robot_driver_franka_sptr_->deinitialize();
|
||||
|
||||
ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_handGripper->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::on_pushButton_disconnect_clicked()
|
||||
{
|
||||
enable_push_button(ui->pushButton_disconnect, false);
|
||||
enable_push_button(ui->pushButton_initialize, false);
|
||||
enable_push_button(ui->pushButton_deinitialize, false);
|
||||
enable_push_button(ui->pushButton_connect, true);
|
||||
update_status_bar(robot_driver_franka_sptr_->get_status_message());
|
||||
ui->comboBox->setEnabled(false);
|
||||
connect_flag_ = false;
|
||||
initialize_flag_ = false;
|
||||
deinitialize_flag_ = false;
|
||||
disconnect_flag_ = false;
|
||||
robot_driver_franka_sptr_->disconnect();
|
||||
|
||||
ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_handGripper->setCheckState(Qt::Checked);
|
||||
ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MainWindow::timerEvent(QTimerEvent *event)
|
||||
{
|
||||
//qDebug() << "Update... "<<connect_flag_;
|
||||
if (connect_flag_)
|
||||
{
|
||||
auto q = robot_driver_franka_sptr_->get_joint_positions();
|
||||
auto q_dot = robot_driver_franka_sptr_->get_joint_velocities();
|
||||
time_from_robot_ = robot_driver_franka_sptr_->get_time();
|
||||
//std::cout<<"q: "<<q.transpose()<<" time: "<< time_from_robot_<<std::endl;
|
||||
|
||||
update_led_timer_status();
|
||||
update_read_joints(q, q_dot);
|
||||
ui->doubleSpinBox_time->setValue(time_from_robot_);
|
||||
robot_driver_franka_sptr_->set_target_joint_positions(q_target_);
|
||||
ui->label_robot_mode->setText(QString::fromStdString(robot_driver_franka_sptr_->get_robot_mode()));
|
||||
|
||||
}else
|
||||
{
|
||||
enable_push_button(ui->pushButton_led, false);
|
||||
}
|
||||
if (robot_driver_franka_sptr_)
|
||||
{
|
||||
update_status_bar(robot_driver_franka_sptr_->get_status_message());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::update_led_timer_status()
|
||||
{
|
||||
int number = int(time_from_robot_)%2;
|
||||
blink_button(ui->pushButton_led, number, green_led_color_, gray_color_);
|
||||
}
|
||||
|
||||
void MainWindow::update_read_joints(const VectorXd& q, const VectorXd& q_dot)
|
||||
{
|
||||
int i=0;
|
||||
for (auto& elem : spin_box_read_joint_x_)
|
||||
{
|
||||
elem->setValue(q[i]);
|
||||
spin_box_read_deg_joint_x_[i]->setValue(q[i]*180/M_PI);
|
||||
spin_box_read_deg_joint_vel_x_[i]->setValue(q_dot[i]);
|
||||
i++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void MainWindow::enable_push_button(QPushButton* push_button, const bool& state)
|
||||
{
|
||||
push_button->setEnabled(state);
|
||||
QColor color;
|
||||
if (state == true)
|
||||
{
|
||||
color = green_color_;
|
||||
}else
|
||||
{
|
||||
color = gray_color_;
|
||||
}
|
||||
set_push_button_color(push_button, color);
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::blink_button(QPushButton* push_button,
|
||||
const bool& state,
|
||||
const QColor& color_on,
|
||||
const QColor& color_off)
|
||||
{
|
||||
//push_button->setEnabled(false);
|
||||
QColor color;
|
||||
if (state == true)
|
||||
{
|
||||
color = color_on;
|
||||
}else
|
||||
{
|
||||
color = color_off;
|
||||
}
|
||||
set_push_button_color(push_button, color);
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::on_reference_joint_1_valueChanged(int value)
|
||||
{
|
||||
ui->label_ref_joint_1->setText(QString::number(value));
|
||||
q_target_[0] = value*(M_PI/180.0);
|
||||
}
|
||||
|
||||
void MainWindow::on_reference_joint_2_valueChanged(int value)
|
||||
{
|
||||
ui->label_ref_joint_2->setText(QString::number(value));
|
||||
q_target_[1] = value*(M_PI/180.0);
|
||||
}
|
||||
void MainWindow::on_reference_joint_3_valueChanged(int value)
|
||||
{
|
||||
ui->label_ref_joint_3->setText(QString::number(value));
|
||||
q_target_[2] = value*(M_PI/180.0);
|
||||
}
|
||||
void MainWindow::on_reference_joint_4_valueChanged(int value)
|
||||
{
|
||||
ui->label_ref_joint_4->setText(QString::number(value));
|
||||
q_target_[3] = value*(M_PI/180.0);
|
||||
}
|
||||
void MainWindow::on_reference_joint_5_valueChanged(int value)
|
||||
{
|
||||
ui->label_ref_joint_5->setText(QString::number(value));
|
||||
q_target_[4] = value*(M_PI/180.0);
|
||||
}
|
||||
void MainWindow::on_reference_joint_6_valueChanged(int value)
|
||||
{
|
||||
ui->label_ref_joint_6->setText(QString::number(value));
|
||||
q_target_[5] = value*(M_PI/180.0);
|
||||
}
|
||||
void MainWindow::on_reference_joint_7_valueChanged(int value)
|
||||
{
|
||||
ui->label_ref_joint_7->setText(QString::number(value));
|
||||
q_target_[6] = value*(M_PI/180.0);
|
||||
}
|
||||
|
||||
void MainWindow::on_pushButton_default_ref_clicked()
|
||||
{
|
||||
set_reference_sliders(q_rest_configuration_);
|
||||
ui->horizontalSlider_gripper->setSliderPosition(7);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void MainWindow::on_horizontalSlider_gripper_valueChanged(int value)
|
||||
{
|
||||
ui->label_ref_joint_hand->setText(QString::number(value));
|
||||
command_gripper_ = double(value*0.0001);
|
||||
//qDebug()<<"command: "<<command_gripper_;
|
||||
}
|
||||
|
||||
void MainWindow::on_checkBox_homingGripper_clicked(bool checked)
|
||||
{
|
||||
if (checked){
|
||||
// Uncheck other checkboxes
|
||||
//ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_handGripper->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::on_checkBox_move_hand_clicked(bool checked)
|
||||
{
|
||||
if (checked){
|
||||
// Uncheck other checkboxeshandHoming
|
||||
ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
|
||||
//ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_handGripper->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::on_checkBox_robotHoming_clicked(bool checked)
|
||||
{
|
||||
if (checked){
|
||||
// Uncheck other checkboxes
|
||||
ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_handGripper->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
|
||||
//ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::on_checkBox_joint_commands_clicked(bool checked)
|
||||
{
|
||||
if (checked){
|
||||
// Uncheck other checkboxes
|
||||
ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_handGripper->setCheckState(Qt::Unchecked);
|
||||
//ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
|
||||
ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::on_checkBox_joint_commands_stateChanged()
|
||||
{
|
||||
Qt::CheckState current_state = ui->checkBox_joint_commands->checkState();
|
||||
if (current_state == Qt::Checked)
|
||||
{
|
||||
enable_reference_sliders(true);
|
||||
ui->pushButton_joint_commands->setEnabled(true);
|
||||
ui->pushButton_default_ref->setEnabled(true);
|
||||
set_push_button_color(ui->pushButton_joint_commands, green_color_);
|
||||
set_push_button_color(ui->pushButton_default_ref, green_color_);
|
||||
//set_push_button_color(ui->pushButton_handHoming, gray_color_);
|
||||
//set_push_button_color(ui->pushButton_move_hand, gray_color_);
|
||||
//set_push_button_color(ui->pushButton_robotHoming, gray_color_);
|
||||
|
||||
}
|
||||
else{
|
||||
enable_reference_sliders(false);
|
||||
ui->pushButton_joint_commands->setEnabled(false);
|
||||
ui->pushButton_default_ref->setEnabled(false);
|
||||
set_push_button_color(ui->pushButton_joint_commands, gray_color_);
|
||||
set_push_button_color(ui->pushButton_default_ref, gray_color_);
|
||||
}
|
||||
}
|
||||
|
||||
void MainWindow::on_checkBox_robotHoming_stateChanged()
|
||||
{
|
||||
Qt::CheckState current_state = ui->checkBox_robotHoming->checkState();
|
||||
if (current_state == Qt::Checked)
|
||||
{
|
||||
|
||||
ui->pushButton_robotHoming->setEnabled(true);
|
||||
set_push_button_color(ui->pushButton_robotHoming, green_color_);
|
||||
|
||||
}
|
||||
else{
|
||||
ui->pushButton_robotHoming->setEnabled(false);
|
||||
set_push_button_color(ui->pushButton_robotHoming, gray_color_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::on_checkBox_move_hand_stateChanged()
|
||||
{
|
||||
Qt::CheckState current_state = ui->checkBox_move_hand->checkState();
|
||||
if (current_state == Qt::Checked)
|
||||
{
|
||||
|
||||
ui->pushButton_move_hand->setEnabled(true);
|
||||
set_push_button_color(ui->pushButton_move_hand, green_color_);
|
||||
ui->horizontalSlider_gripper->setEnabled(true);
|
||||
|
||||
}
|
||||
else{
|
||||
ui->pushButton_move_hand->setEnabled(false);
|
||||
set_push_button_color(ui->pushButton_move_hand, gray_color_);
|
||||
ui->horizontalSlider_gripper->setEnabled(false);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MainWindow::on_checkBox_homingGripper_stateChanged()
|
||||
{
|
||||
Qt::CheckState current_state = ui->checkBox_homingGripper->checkState();
|
||||
if (current_state == Qt::Checked)
|
||||
{
|
||||
|
||||
ui->pushButton_handHoming->setEnabled(true);
|
||||
set_push_button_color(ui->pushButton_handHoming, green_color_);
|
||||
|
||||
}
|
||||
else{
|
||||
ui->pushButton_handHoming->setEnabled(false);
|
||||
set_push_button_color(ui->pushButton_handHoming, gray_color_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void MainWindow::on_pushButton_robotHoming_clicked()
|
||||
{
|
||||
QMessageBox::warning(this, "Warning", "This will move the robot. "
|
||||
"Please make sure to have the user stop button at hand! "
|
||||
"Use at your own risk");
|
||||
robot_driver_franka_sptr_->move_robot_to_target_joint_positions(
|
||||
robot_driver_franka_sptr_->get_home_robot_configuration());
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void MainWindow::on_pushButton_joint_commands_clicked()
|
||||
{
|
||||
std::cout<<"q_target_: "<<q_target_.transpose()<<std::endl;
|
||||
std::cout<<"q_target_: "<<(180/M_PI)*q_target_.transpose()<<std::endl;
|
||||
QMessageBox::warning(this, "Warning", "This will move the robot. "
|
||||
"Please make sure to have the user stop button at hand! "
|
||||
"Use at your own risk");
|
||||
//robot_driver_franka_sptr_->move_robot_to_target_joint_positions(q_target_);
|
||||
robot_driver_franka_sptr_->move_robot_to_target_joint_positions(q_target_);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void MainWindow::on_pushButton_handHoming_clicked()
|
||||
{
|
||||
robot_driver_franka_sptr_->gripper_homing();
|
||||
auto width = robot_driver_franka_sptr_->read_gripper(RobotInterfaceFranka::WIDTH);
|
||||
ui->doubleSpinBox_hand->setValue(width);
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::on_pushButton_move_hand_clicked()
|
||||
{
|
||||
auto max_width = robot_driver_franka_sptr_->read_gripper(RobotInterfaceFranka::MAX_WIDTH);
|
||||
auto width = robot_driver_franka_sptr_->read_gripper(RobotInterfaceFranka::WIDTH);
|
||||
ui->doubleSpinBox_hand->setValue(width);
|
||||
|
||||
if (command_gripper_ < 0.01 or command_gripper_ > max_width)
|
||||
{
|
||||
qDebug()<<"The desired value is outside the range. ";
|
||||
}else{
|
||||
|
||||
robot_driver_franka_sptr_->set_gripper(command_gripper_);
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user