[RobotHardware] add OutPort for gain #1295
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kindsenior
reviewed
Jan 4, 2021
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| int robot::readTorquePgain(int i, double &o_torquepgain) | ||
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| #if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 4 |
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ヘッダファイルと共に #ifマクロの外に関数宣言と定義を書いた方がコンパイルすら通らないのでそちらの方がより安全ということはないだろうか？
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#ifマクロ による分岐箇所が可能な限り少ない方が可読性が高く保守もしやすいと考え、robot.cppのiobの関数を直接呼ぶ部分でのみ#ifマクロ を使う形にしました。
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すみません 遅くなりました
確かに可読性が高い方がいいかもしれませんね
それでいいと思います
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RobotHardwareに
pgaindgaintorquePgaintorqueDgainというOutPortを新たに作成し、現在の関節ゲインの値を出力するようにすることで、他のrtcが関節ゲインの値にアクセスできるようにしました。