Add PT mode options

roboticslab-uc3m · Dec 25, 2019 · 1d73397 · 1d73397
1 parent a1f31b7
commit 1d73397
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diff --git a/share/applications/yarpmanager/softNeckControl.xml b/share/applications/yarpmanager/softNeckControl.xml
@@ -38,7 +38,7 @@
 
     <module>
         <name>streamingDeviceController</name>
-        <parameters>--streamingDevice SpaceNavigator --remoteCartesian /SoftNeckControl --movi --gain 0.1 --SpaceNavigator::fixedAxes "(x y z rotz)" --period 0.02</parameters>
+        <parameters>--streamingDevice SpaceNavigator --remoteCartesian /SoftNeckControl --movi --gain 0.1 --SpaceNavigator::fixedAxes "(x y z rotz)" --period 0.01</parameters>
         <node>localhost</node>
     </module>
 

diff --git a/share/contexts/oneCanBusOneWrapper/softNeck.ini b/share/contexts/oneCanBusOneWrapper/softNeck.ini
@@ -3,6 +3,9 @@ device CanBusControlboard
 canDevice /dev/pcan1
 canBusType CanBusPeak
 canBitrate 1000000
+linInterpPeriodMs 20
+linInterpBufferSize 1
+linInterpMode pt
 types TechnosoftIpos TechnosoftIpos TechnosoftIpos
 ids   31 32 33
 maxs  90.0 90.0 90.0