From bd1cbbcd0606f78180346328bd85834d65bb28fd Mon Sep 17 00:00:00 2001 From: Sean Mason Date: Mon, 18 Jul 2016 15:09:50 -0700 Subject: [PATCH] Added request_freeze commands to force controller manager. --- .../force/QuadrupedForceControllerManager.java | 10 ++++++++++ .../force/QuadrupedForceControllerRequestedEvent.java | 1 + 2 files changed, 11 insertions(+) diff --git a/IHMCQuadrupedRobotics/src/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerManager.java b/IHMCQuadrupedRobotics/src/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerManager.java index a06dcb0f667..ef5f139f1a7 100644 --- a/IHMCQuadrupedRobotics/src/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerManager.java +++ b/IHMCQuadrupedRobotics/src/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerManager.java @@ -204,6 +204,16 @@ private FiniteStateMachine 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/IHMCQuadrupedRobotics/src/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerRequestedEvent.java b/IHMCQuadrupedRobotics/src/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerRequestedEvent.java index 12a7cdd2170..e9543486004 100644 --- a/IHMCQuadrupedRobotics/src/us/ihmc/quadrupedRobotics/controller/force/QuadrupedForceControllerRequestedEvent.java +++ b/IHMCQuadrupedRobotics/src/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,