- Hi all,I have a final project with the aibo ERS-7. The problem is I don't have an aibo, and probably I'll never have one. So I can't test any of the code I write or download from the internet (like the Tekkotsu framework). One purpose of the project is to send all sensordata to a computer and give commands from that computer back to the aibo.I have a question about those sensordata.First, with sensordata I mean ouput-values (or joint-values), button-values and sensor-values, which are defined in WordlState.h. I have a problem with the button-values. Namely, I can't find code where the button-array is updated. In WorldState.cc there's only this:// Get foot switches
chkEvent(er,RBkPawOffset,GETB(ERS7Info::CPCSwitchRHPaw),"RBkPaw");//(by the way: paws are pressure sensors, why convert them in a boolean? Tekkotsu only needs booleans for paws? )// Get buttons/switches
// the sensors are scaled to be relatively similar to the pressure values given by the head on the 210
chkEvent(er, ERS7Info::ChinButOffset, GETSENSOR(ERS7Info::CPCSwitchChin), "ChinBut");
chkEvent(er, ERS7Info::HeadButOffset, GETSENSOR(ERS7Info::CPCSensorHead)/120, "HeadBut");
chkEvent(er, ERS7Info::FrontBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackFront)/150, "BkFrBut");
chkEvent(er, ERS7Info::MiddleBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackMiddle)/150,"BkMdBut");
chkEvent(er, ERS7Info::RearBackButOffset, GETSENSOR(ERS7Info::CPCSensorBackRear)/150, "BkRrBut");
chkEvent(er, ERS7Info::WirelessSwOffset,GETSENSOR(ERS7Info::CPCSwitchWireless), "WirelessSw");So the button-values are only used for event-posting and I didn't find a behavior who updates the values in buttons, so all values in buttons remain 0...Is that correct or am I making a mistake?Thanks!
> So the button-values are only used for event-posting and I didn't findThe chkEvent() function that is being called with each button value is
> a behavior who updates the values in buttons, so all values in
> buttons remain 0...
> Is that correct or am I making a mistake?
two-fold - it checks to see if an event needs to be posted by comparing
against the current value in buttons, and also sets the new value to
I see a potential problem tho - it probably should set the new value to
buttons *before* posting the event (so the new value will be
available to the event listeners in buttons, as well as within the
event. Ideally, I think *all* of buttons should be up to date before
*any* events are posted. Hmm)
Is anyone relying on the buttons holding the previous value when an
event is received? Otherwise i'll change that for the next release,
before it trips someone up...