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add limited extrapolation #216

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add limited extrapolation #216

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10 changes: 9 additions & 1 deletion resources/external_control.urscript
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,8 @@ SERVO_UNINITIALIZED = -1
SERVO_IDLE = 0
SERVO_RUNNING = 1

MODE_STOPPED = -2
MODE_STOPPED = -3
MODE_PAUSED = -2
MODE_UNINITIALIZED = -1
MODE_IDLE = 0
MODE_SERVOJ = 1
Expand Down Expand Up @@ -73,6 +74,7 @@ global cmd_servo_q_last = get_actual_joint_positions()
global cmd_twist = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
global extrapolate_count = 0
global extrapolate_max_count = 0
global max_consecutive_extrapolate_count = 50
global control_mode = MODE_UNINITIALIZED
global trajectory_points_left = 0
global spline_qdd = [0, 0, 0, 0, 0, 0]
Expand Down Expand Up @@ -570,6 +572,12 @@ thread servoThreadP():
if extrapolate_count > extrapolate_max_count:
extrapolate_max_count = extrapolate_count
end

if extrapolate_count > max_consecutive_extrapolate_count:
textmsg("Exceeded max consecutive extrapolation count, stopping the arm")
stopj(STOPJ_ACCELERATION)
control_mode = MODE_PAUSED
end

q = extrapolate()
if targetWithinLimits(q_last, q, steptime):
Expand Down