Added request_freeze commands to force controller manager.

openhumanoids · Jul 18, 2016 · bd1cbbc · bd1cbbc
1 parent 16e580f
commit bd1cbbc
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Showing 2 changed files with 11 additions and 0 deletions.
diff --git a/...otics/src/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerManager.java b/...otics/src/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerManager.java
@@ -204,6 +204,16 @@ private FiniteStateMachine<QuadrupedForceControllerState, ControllerEvent> build
             QuadrupedForceControllerState.STAND_READY, QuadrupedForceControllerState.STAND_PREP);
       builder.addTransition(QuadrupedForceControllerRequestedEvent.class, QuadrupedForceControllerRequestedEvent.REQUEST_STAND_PREP,
             QuadrupedForceControllerState.FREEZE, QuadrupedForceControllerState.STAND_PREP);
+      builder.addTransition(QuadrupedForceControllerRequestedEvent.class, QuadrupedForceControllerRequestedEvent.REQUEST_FREEZE,
+            QuadrupedForceControllerState.DO_NOTHING, QuadrupedForceControllerState.FREEZE);
+      builder.addTransition(QuadrupedForceControllerRequestedEvent.class, QuadrupedForceControllerRequestedEvent.REQUEST_FREEZE,
+            QuadrupedForceControllerState.STAND, QuadrupedForceControllerState.FREEZE);
+      builder.addTransition(QuadrupedForceControllerRequestedEvent.class, QuadrupedForceControllerRequestedEvent.REQUEST_FREEZE,
+            QuadrupedForceControllerState.STAND_PREP, QuadrupedForceControllerState.FREEZE);
+      builder.addTransition(QuadrupedForceControllerRequestedEvent.class, QuadrupedForceControllerRequestedEvent.REQUEST_FREEZE,
+            QuadrupedForceControllerState.STAND_READY, QuadrupedForceControllerState.FREEZE);
+      builder.addTransition(QuadrupedForceControllerRequestedEvent.class, QuadrupedForceControllerRequestedEvent.REQUEST_FREEZE,
+            QuadrupedForceControllerState.SOLE_WAYPOINT, QuadrupedForceControllerState.FREEZE);
 
       // Fall triggered events
       builder.addTransition(QuadrupedForceControllerRequestedEvent.class, QuadrupedForceControllerRequestedEvent.REQUEST_FALL,

diff --git a/...rc/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerRequestedEvent.java b/...rc/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerRequestedEvent.java
@@ -3,6 +3,7 @@
 public enum QuadrupedForceControllerRequestedEvent
 {
    REQUEST_STAND_PREP,
+   REQUEST_FREEZE,
    REQUEST_STAND,
    REQUEST_STEP,
    REQUEST_XGAIT,