diff --git a/Project/Assets/Kraken/apple_kraken_v1/apple_kraken_v1.prefab b/Project/Assets/Kraken/apple_kraken_v1/apple_kraken_v1.prefab index 579d4c55..724715b7 100644 --- a/Project/Assets/Kraken/apple_kraken_v1/apple_kraken_v1.prefab +++ b/Project/Assets/Kraken/apple_kraken_v1/apple_kraken_v1.prefab @@ -319,30 +319,17 @@ "Id": "Entity_[126300968762012]", "Name": "kraken_manipulator_link_4", "Components": { - "Component_[11904146489978765935]": { + "Component_[13859089345173012003]": { "$type": "GenericComponentWrapper", - "Id": 11904146489978765935, + "Id": 13859089345173012003, "m_template": { - "$type": "MotorizedJointComponent", - "JointAxis": [ - 0.0, - -1.0, - 0.0 - ], - "Limit": [ - 0.3499999940395355, - 0.949999988079071 - ], - "AnimationMode": false, - "ZeroOffset": 0.36000001430511475, + "$type": "PidMotorControllerComponent", "PidPosition": { "P": 300.0, - "D": 20.0, + "I": 50.0, + "D": 100.0, "Output limit": 300.0 - }, - "DebugDrawEntity": "", - "TestSinActive": false, - "OverrideParent": "Entity_[126339623467676]" + } } }, "Component_[16106550039375901155]": { @@ -402,7 +389,7 @@ "ShapeType": 3, "Cylinder": { "Configuration": { - "CookedData": 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"Type": 1 }, "Subdivision": 32, @@ -457,6 +444,9 @@ "Linear Limit": { "Lower Limit": 0.0, "Upper Limit": 0.30000001192092896 + }, + "Motor": { + "UseMotor": true } }, "Component_[839061643917149005]": { @@ -1367,6 +1357,19 @@ "$type": "EditorLockComponent", "Id": 12352959292044401085 }, + "Component_[13604560872382154554]": { + "$type": "GenericComponentWrapper", + "Id": 13604560872382154554, + "m_template": { + "$type": "PidMotorControllerComponent", + "PidPosition": { + "P": 300.0, + "I": 50.0, + "D": 200.0, + "Output limit": 300.0 + } + } + }, "Component_[14360339726809431751]": { "$type": "EditorVisibilityComponent", "Id": 14360339726809431751 @@ -1412,7 +1415,7 @@ "ShapeType": 3, "Cylinder": { "Configuration": { - "CookedData": 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"Component_[13491105411844563058]": { "$type": "GenericComponentWrapper", - "Id": 15310090381130276626, + "Id": 13491105411844563058, "m_template": { - "$type": "MotorizedJointComponent", - "Limit": [ - 0.6000000238418579, - 2.200000047683716 - ], - "AnimationMode": false, - "ZeroOffset": 1.649999976158142, + "$type": "PidMotorControllerComponent", "PidPosition": { "P": 1200.0, - "D": 400.0, + "I": 200.0, + "D": 800.0, "Output limit": 400.0 - }, - "DebugDrawEntity": "", - "TestSinActive": false, - "OverrideParent": "" + } } }, "Component_[16342105264437277463]": { @@ -3046,6 +3019,9 @@ "Linear Limit": { "Lower Limit": -1.2000000476837158, "Upper Limit": 0.6700000166893005 + }, + "Motor": { + "UseMotor": true } }, "Component_[6517663388098082332]": { diff --git a/Project/Assets/Kraken/apple_kraken_v2/apple_kraken_v2.prefab b/Project/Assets/Kraken/apple_kraken_v2/apple_kraken_v2.prefab index 5b5d6a5f..4ae319dd 100644 --- a/Project/Assets/Kraken/apple_kraken_v2/apple_kraken_v2.prefab +++ b/Project/Assets/Kraken/apple_kraken_v2/apple_kraken_v2.prefab @@ -415,6 +415,19 @@ "Id": "Entity_[126300968762012]", "Name": "kraken_manipulator_link_4", "Components": { + "Component_[13511591016862866826]": { + "$type": "GenericComponentWrapper", + "Id": 13511591016862866826, + "m_template": { + "$type": "PidMotorControllerComponent", + "PidPosition": { + "P": 300.0, + "I": 50.0, + "D": 100.0, + "Output limit": 300.0 + } + } + }, "Component_[16106550039375901155]": { "$type": "EditorOnlyEntityComponent", "Id": 16106550039375901155 @@ -472,7 +485,7 @@ "ShapeType": 3, "Cylinder": { "Configuration": { - "CookedData": 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"Entity_[126339623467676]", "Name": "kraken_manipulator_link_2", "Components": { + "Component_[10501925045119716398]": { + "$type": "GenericComponentWrapper", + "Id": 10501925045119716398, + "m_template": { + "$type": "PidMotorControllerComponent", + "PidPosition": { + "P": 300.0, + "I": 50.0, + "D": 200.0, + "Output limit": 300.0 + } + } + }, "Component_[12352959292044401085]": { "$type": "EditorLockComponent", "Id": 12352959292044401085 @@ -1578,7 +1579,7 @@ "ShapeType": 3, "Cylinder": { "Configuration": { - "CookedData": 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"Type": 1 }, "Subdivision": 32, @@ -1630,32 +1631,6 @@ "SolverVelocityIterations": 15 } }, - "Component_[4679764795672415951]": { - "$type": "GenericComponentWrapper", - "Id": 4679764795672415951, - "m_template": { - "$type": "MotorizedJointComponent", - "JointAxis": [ - 1.0, - 0.0, - 0.0 - ], - "Limit": [ - {}, - 1.5 - ], - "AnimationMode": false, - "PidPosition": { - "P": 1500.0, - "D": 500.0, - "IMin": 0.0, - "Output limit": 450.0 - }, - "DebugDrawEntity": "", - "TestSinActive": false, - "OverrideParent": "" - } - }, "Component_[5537772980649449717]": { "$type": "EditorDisabledCompositionComponent", "Id": 5537772980649449717, @@ -1706,8 +1681,11 @@ "Child Entity": "Entity_[126339623467676]" }, "Linear Limit": { - "Lower Limit": -0.800000011920929, - "Upper Limit": 1.2000000476837158 + "Lower Limit": -0.6499999761581421, + "Upper Limit": 1.149999976158142 + }, + "Motor": { + "UseMotor": true } }, "Component_[8857359616044755216]": { @@ -3228,27 +3206,6 @@ ] } }, - "Component_[12717887196616909839]": { - "$type": "GenericComponentWrapper", - "Id": 12717887196616909839, - "m_template": { - "$type": "MotorizedJointComponent", - "Limit": [ - 0.0, - 2.200000047683716 - ], - "AnimationMode": false, - "ZeroOffset": 1.649999976158142, - "PidPosition": { - "P": 1200.0, - "D": 400.0, - "Output limit": 400.0 - }, - "DebugDrawEntity": "", - "TestSinActive": false, - "OverrideParent": "" - } - }, "Component_[16342105264437277463]": { "$type": "EditorEntityIconComponent", "Id": 16342105264437277463 @@ -3307,6 +3264,9 @@ "Linear Limit": { "Lower Limit": -1.2000000476837158, "Upper Limit": 0.6700000166893005 + }, + "Motor": { + "UseMotor": true } }, "Component_[6517663388098082332]": { @@ -3321,6 +3281,19 @@ "$type": "EditorPendingCompositionComponent", "Id": 6610843948301279295 }, + "Component_[6884914528851264182]": { + "$type": "GenericComponentWrapper", + "Id": 6884914528851264182, + "m_template": { + "$type": "PidMotorControllerComponent", + "PidPosition": { + "P": 1200.0, + "I": 200.0, + "D": 800.0, + "Output limit": 400.0 + } + } + }, "Component_[7370586322450868306]": { "$type": "EditorColliderComponent", "Id": 7370586322450868306, diff --git a/Project/Gem/Source/Manipulator/KrakenManipulatorController.cpp b/Project/Gem/Source/Manipulator/KrakenManipulatorController.cpp index bd0d0dfe..c76f2e8e 100644 --- a/Project/Gem/Source/Manipulator/KrakenManipulatorController.cpp +++ b/Project/Gem/Source/Manipulator/KrakenManipulatorController.cpp @@ -7,7 +7,7 @@ */ #include "KrakenManipulatorController.h" -#include +#include #include #include @@ -103,11 +103,11 @@ namespace AppleKraken float error_x = std::numeric_limits::max(); float error_z = std::numeric_limits::max(); - ROS2::MotorizedJointRequestBus::Event(m_entityX, &ROS2::MotorizedJointRequest::SetSetpoint, m_setPointX); - ROS2::MotorizedJointRequestBus::EventResult(error_x, m_entityX, &ROS2::MotorizedJointRequest::GetError); + ROS2::PidMotorControllerRequestBus::Event(m_entityX, &ROS2::PidMotorControllerRequests::SetSetpoint, m_setPointX); + ROS2::PidMotorControllerRequestBus::EventResult(error_x, m_entityX, &ROS2::PidMotorControllerRequests::GetError); - ROS2::MotorizedJointRequestBus::Event(m_entityZ, &ROS2::MotorizedJointRequest::SetSetpoint, m_setPointZ); - ROS2::MotorizedJointRequestBus::EventResult(error_z, m_entityZ, &ROS2::MotorizedJointRequest::GetError); + ROS2::PidMotorControllerRequestBus::Event(m_entityZ, &ROS2::PidMotorControllerRequests::SetSetpoint, m_setPointZ); + ROS2::PidMotorControllerRequestBus::EventResult(error_z, m_entityZ, &ROS2::PidMotorControllerRequests::GetError); // auto - disable nose retrieve only if we reached small error. if (m_noseRetrieveRequest == true) @@ -133,7 +133,7 @@ namespace AppleKraken if (m_time_Y_ok > m_timeSetpointReach) { float error_y = std::numeric_limits::max(); - ROS2::MotorizedJointRequestBus::EventResult(error_y, m_entityY, &ROS2::MotorizedJointRequest::GetError); + ROS2::PidMotorControllerRequestBus::EventResult(error_y, m_entityY, &ROS2::PidMotorControllerRequests::GetError); if (error_y < max_errorY && error_y > -max_errorY) { m_noseRetrievingSuccess = true; @@ -145,7 +145,7 @@ namespace AppleKraken { m_noseRetrievingSuccess = false; } - ROS2::MotorizedJointRequestBus::Event(m_entityY, &ROS2::MotorizedJointRequest::SetSetpoint, m_setPointY); + ROS2::PidMotorControllerRequestBus::Event(m_entityY, &ROS2::PidMotorControllerRequests::SetSetpoint, m_setPointY); } } @@ -164,9 +164,9 @@ namespace AppleKraken float x{0}; float y{0}; float z{0}; - ROS2::MotorizedJointRequestBus::EventResult(x, m_entityX, &ROS2::MotorizedJointRequest::GetCurrentMeasurement); - ROS2::MotorizedJointRequestBus::EventResult(y, m_entityY, &ROS2::MotorizedJointRequest::GetCurrentMeasurement); - ROS2::MotorizedJointRequestBus::EventResult(z, m_entityZ, &ROS2::MotorizedJointRequest::GetCurrentMeasurement); + ROS2::PidMotorControllerRequestBus::EventResult(x, m_entityX, &ROS2::PidMotorControllerRequests::GetCurrentMeasurement); + ROS2::PidMotorControllerRequestBus::EventResult(y, m_entityY, &ROS2::PidMotorControllerRequests::GetCurrentMeasurement); + ROS2::PidMotorControllerRequestBus::EventResult(z, m_entityZ, &ROS2::PidMotorControllerRequests::GetCurrentMeasurement); return AZ::Vector3{x,y,z}; }; diff --git a/Project/Levels/playground/playground.prefab b/Project/Levels/playground/playground.prefab index 0c506a39..96cf4eb6 100755 --- a/Project/Levels/playground/playground.prefab +++ b/Project/Levels/playground/playground.prefab @@ -585,21 +585,11 @@ "path": "/ContainerEntity/Components/Component_[16951455423041694634]/Transform Data/Rotate/2", "value": 0.0 }, - { - "op": "replace", - "path": "/Entities/Entity_[126300968762012]/Components/Component_[6405455946319320324]/ShapeConfiguration/Cylinder/Configuration/CookedData", - "value": 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