Method HandControl

HomieDeploy/unitree_sdk2/hand_control.cpp:64–94

        float hand_action[14] = {0};
    public:
    HandControl(int  val){

        unitree::robot::ChannelFactory::Instance()->Init(0);
        lhandcmd_publisher.reset(new unitree::robot::ChannelPublisher<unitree_hg::msg::dds_::HandCmd_>(ldds_namespace + "/cmd"));
        lhandstate_subscriber.reset(new unitree::robot::ChannelSubscriber<unitree_hg::msg::dds_::HandState_>(lsub_namespace));
        lhandcmd_publisher->InitChannel();
        lstate.motor_state().resize(MOTOR_MAX);
        lstate.press_sensor_state().resize(SENSOR_MAX);
        msg.motor_cmd().resize(MOTOR_MAX);

        rhandcmd_publisher.reset(new unitree::robot::ChannelPublisher<unitree_hg::msg::dds_::HandCmd_>(rdds_namespace + "/cmd"));
        rhandstate_subscriber.reset(new unitree::robot::ChannelSubscriber<unitree_hg::msg::dds_::HandState_>(rsub_namespace));
        rhandcmd_publisher->InitChannel();
        rstate.motor_state().resize(MOTOR_MAX);
        rstate.press_sensor_state().resize(SENSOR_MAX);
        _simpleLCM.subscribe("hand_action", &HandControl::handleHandLCM, this);
        _simple_LCM_thread = std::thread(&HandControl::simpleLCMThread, this);
        _simple_hand_thread = std::thread(&HandControl::simplehandThread, this);
        for (int item = 0; item < 7; item++){
            hand_action_simple.act[item] = minTorqueLimits_left[item];
            hand_action_simple.act[item+7] = maxTorqueLimits_right[item];
        }
        hand_action_simple.act[0] = 0.0;
        hand_action_simple.act[1] = maxTorqueLimits_left[1];
        hand_action_simple.act[2] = maxTorqueLimits_left[2];
        hand_action_simple.act[7] = 0.0;
        hand_action_simple.act[8] = minTorqueLimits_right[1];
        hand_action_simple.act[9] = minTorqueLimits_right[2];
        
        
    }
    void rotateMotors(bool isLeftHand) {
        const float* maxTorqueLimits = isLeftHand ? maxTorqueLimits_left : maxTorqueLimits_right;
        const float* minTorqueLimits = isLeftHand ? minTorqueLimits_left : minTorqueLimits_right;