Missing implementation of ControlBoardDriver::SetRefCurrent

[LoreMoretti]

The ControlBoardDriver::SetRefCurrent is not implemented.

It would be nice to have it so that we do not have to change code (or add if statements) when controlling the robot in current.

An idea for the implementation could be the following pseudocode:

bool ControlBoardDriver::setRefCurrent(int m, double curr)
{
    ktau = getKtau(m)
    gearRatio = getGearRatio(m)
    jointTorque = current * ktau * gearRatio
    return setRefTorque(jointTorque, m)
}

[traversaro]

Good idea! It could make sense to just implement all the ICurrentControl methods based on the related ITorqueControl methods:

gz-sim-yarp-plugins/plugins/controlboard/src/ControlBoardDriver.cpp

Lines 1367 to 1418 in 719b105

	// ICurrentControl
	bool ControlBoardDriver::getNumberOfMotors(int* ax)
	{
	// TODO
	return true;
	}
	bool ControlBoardDriver::getCurrent(int m, double* curr)
	{
	// TODO
	return true;
	}
	bool ControlBoardDriver::getCurrents(double* currs)
	{
	// TODO
	return true;
	}
	bool ControlBoardDriver::getCurrentRange(int m, double* min, double* max)
	{
	// TODO
	return true;
	}
	bool ControlBoardDriver::getCurrentRanges(double* min, double* max)
	{
	// TODO
	return true;
	}
	bool ControlBoardDriver::setRefCurrents(const double* currs)
	{
	// TODO
	return true;
	}
	bool ControlBoardDriver::setRefCurrent(int m, double curr)
	{
	// TODO
	return true;
	}
	bool ControlBoardDriver::setRefCurrents(const int n_motor, const int* motors, const double* currs)
	{
	// TODO
	return true;
	}
	bool ControlBoardDriver::getRefCurrents(double* currs)
	{
	// TODO
	return true;
	}
	bool ControlBoardDriver::getRefCurrent(int m, double* curr)
	{
	// TODO
	return true;
	}

. To do that, we should probably also implement support for reading ktau and gearRatio from the conf file in

gz-sim-yarp-plugins/plugins/controlboard/src/ControlBoard.cpp

Line 656 in 719b105

. Not directly related to the issue, but once gearRatio load is supported, it could make sense to also implement the IMotorEncoders interface.

[xela-95]

Related code in gazebo-yarp-plugins

https://github.com/robotology/gazebo-yarp-plugins/blob/333f3c49011169b49c3d4db8bca54ef4da5285a5/plugins/controlboard/src/ControlBoardDriverCurrent.cpp#L40-L104