25 yarp::dev::IVelocityControl *ivel;
26 yarp::dev::IPositionControl *ipos;
27 yarp::dev::IEncoders *ienc;
28 yarp::dev::IControlMode *imod;
29 yarp::dev::IPidControl *ipid;
31 yarp::dev::PolyDriver *driver;
33 yarp::sig::Vector encoders;
34 yarp::sig::Vector encoders_speed;
38 yarp::sig::Vector targets;
39 yarp::sig::Vector ffVelocities;
40 yarp::sig::Vector command;
42 yarp::sig::Vector error;
43 yarp::sig::Vector error_d;
45 yarp::sig::Vector maxVel;
55 yarp::os::BufferedPort<yarp::os::Bottle> command_port;
56 yarp::os::BufferedPort<yarp::os::Bottle> command_port2;
62 FILE *currentSpeedFile;
63 FILE *targetSpeedFile;
69 bool init(yarp::dev::PolyDriver *d, std::string partName,
70 std::string robotName);
74 void setRef(
int i,
double pos);
76 void setVel(
int i,
double vel);
77 void setGain(
int i,
double gain);