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enabled configuration of hand control gains #88

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Merged
kou merged 2 commits into from
Apr 29, 2026
+15 −2
Merged

enabled configuration of hand control gains #88

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11f2c59
enabled configuration of hand control gains
TJMolnar Apr 17, 2026
cd882a9
changed kph/kdh to kp_hand/kd_hand for clarity
TJMolnar Apr 23, 2026
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3 changes: 3 additions & 0 deletions openarm_hardware/include/openarm_hardware/v10_simple_hardware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,6 +111,9 @@ class OpenArm_v10HW : public hardware_interface::SystemInterface {
const double GRIPPER_KP = 5.0;
const double GRIPPER_KD = 0.1;

double gripper_kp_ = GRIPPER_KP;
double gripper_kd_ = GRIPPER_KD;

// Configuration
std::string can_interface_;
std::string arm_prefix_;
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14 changes: 12 additions & 2 deletions openarm_hardware/src/v10_simple_hardware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,16 @@ bool OpenArm_v10HW::parse_config(const hardware_interface::HardwareInfo& info) {
kd_[i - 1] = std::stod(it->second);
}
}
if (hand_) {
it = info.hardware_parameters.find("kp_hand");
if (it != info.hardware_parameters.end()) {
gripper_kp_ = std::stod(it->second);
}
it = info.hardware_parameters.find("kd_hand");
if (it != info.hardware_parameters.end()) {
gripper_kd_ = std::stod(it->second);
}
}

RCLCPP_INFO(rclcpp::get_logger("OpenArm_v10HW"),
"Configuration: CAN=%s, arm_prefix=%s, hand=%s, can_fd=%s",
Expand Down Expand Up @@ -281,7 +291,7 @@ hardware_interface::return_type OpenArm_v10HW::write(
// TODO the true mappings are unimplemented.
double motor_command = joint_to_motor_radians(pos_commands_[ARM_DOF]);
openarm_->get_gripper().mit_control_all(
{{GRIPPER_KP, GRIPPER_KD, motor_command, 0, 0}});
{{gripper_kp_, gripper_kd_, motor_command, 0.0, 0.0}});
}
openarm_->recv_all(1000);
return hardware_interface::return_type::OK;
Expand All @@ -301,7 +311,7 @@ void OpenArm_v10HW::return_to_zero() {
// Return gripper to zero if enabled
if (hand_) {
openarm_->get_gripper().mit_control_all(
{{GRIPPER_KP, GRIPPER_KD, GRIPPER_JOINT_0_POSITION, 0.0, 0.0}});
{{gripper_kp_, gripper_kd_, GRIPPER_JOINT_0_POSITION, 0.0, 0.0}});
}
std::this_thread::sleep_for(std::chrono::microseconds(1000));
openarm_->recv_all();
Expand Down