public void printOffsetsForCoeffsForValkyrie() { java.text.NumberFormat doubleFormat = new java.text.DecimalFormat(" 0.00;-0.00"); System.out.println(); ArrayList<OneDoFJointBasics> oneDoFJoints = diagnosticsWhenHangingController.getOneDoFJoints(); for (OneDoFJointBasics oneDoFJoint : oneDoFJoints) { DiagnosticsWhenHangingHelper diagnosticsWhenHangingHelper = diagnosticsWhenHangingController.getDiagnosticsWhenHangingHelper(oneDoFJoint); if (diagnosticsWhenHangingHelper != null) { double torqueOffset = diagnosticsWhenHangingHelper.getTorqueOffset(); double torqueOffsetSign = diagnosticsWhenHangingController.getTorqueOffsetSign(oneDoFJoint); double signedTorqueOffset = torqueOffset * torqueOffsetSign; String offsetString = doubleFormat.format(signedTorqueOffset); System.out.println(oneDoFJoint.getName() + " torque offset = " + offsetString); } } }
public void printOffsetsForCoeffsForSteppr() { java.text.NumberFormat doubleFormat = new java.text.DecimalFormat(" 0.00;-0.00"); System.out.println(); ArrayList<OneDoFJoint> oneDoFJoints = diagnosticsWhenHangingController.getOneDoFJoints(); for (OneDoFJoint oneDoFJoint : oneDoFJoints) { DiagnosticsWhenHangingHelper diagnosticsWhenHangingHelper = diagnosticsWhenHangingController.getDiagnosticsWhenHangingHelper(oneDoFJoint); if (diagnosticsWhenHangingHelper != null) { double torqueOffset = diagnosticsWhenHangingHelper.getTorqueOffset(); double torqueOffsetSign = diagnosticsWhenHangingController.getTorqueOffsetSign(oneDoFJoint); double signedTorqueOffset = torqueOffset * torqueOffsetSign; String offsetString = doubleFormat.format(signedTorqueOffset); System.out.println(oneDoFJoint.getName() + " torque offset = " + offsetString); } } }