From 940ed9a5158d4fb0269a2737d3e4fc97e2c136ea Mon Sep 17 00:00:00 2001 From: ale-git Date: Fri, 22 Nov 2024 20:11:56 +0100 Subject: [PATCH] uncommented --- src/libYARP_dev/src/yarp/dev/ControlBoardHelper.cpp | 1 + src/libYARP_dev/src/yarp/dev/PidEnums.h | 1 + 2 files changed, 2 insertions(+) diff --git a/src/libYARP_dev/src/yarp/dev/ControlBoardHelper.cpp b/src/libYARP_dev/src/yarp/dev/ControlBoardHelper.cpp index beea25a73a..8d0fb566f6 100644 --- a/src/libYARP_dev/src/yarp/dev/ControlBoardHelper.cpp +++ b/src/libYARP_dev/src/yarp/dev/ControlBoardHelper.cpp @@ -929,6 +929,7 @@ double ControlBoardHelper::get_pidfeedback_conversion_factor_user2raw(const yarp switch (pidtype) { case yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_POSITION: feedback_conversion_factor = mPriv->angleToEncoders[j]; break; + case yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_DIRECT: feedback_conversion_factor = mPriv->angleToEncoders[j]; break; case yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_VELOCITY: feedback_conversion_factor = mPriv->angleToEncoders[j]; break; case yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_TORQUE: feedback_conversion_factor = mPriv->newtonsToSensors[j]; break; case yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_CURRENT: feedback_conversion_factor = mPriv->ampereToSensors[j]; break; diff --git a/src/libYARP_dev/src/yarp/dev/PidEnums.h b/src/libYARP_dev/src/yarp/dev/PidEnums.h index 39b63a4c3c..7c24474819 100644 --- a/src/libYARP_dev/src/yarp/dev/PidEnums.h +++ b/src/libYARP_dev/src/yarp/dev/PidEnums.h @@ -16,6 +16,7 @@ enum YARP_dev_API PidControlTypeEnum VOCAB_PIDTYPE_POSITION = yarp::os::createVocab32('p', 'o', 's'), VOCAB_PIDTYPE_VELOCITY = yarp::os::createVocab32('v', 'e', 'l'), VOCAB_PIDTYPE_TORQUE = yarp::os::createVocab32('t', 'r', 'q'), + VOCAB_PIDTYPE_DIRECT = yarp::os::createVocab32('d', 'i', 'r'), VOCAB_PIDTYPE_CURRENT = yarp::os::createVocab32('c', 'u', 'r') };