%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% compute joint speed according to speeddata variable vmax means maximum speed for each joint the other cases are scaled according to a maximum value of v6000 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % compute joint speed according to speeddata variable 0003 % vmax means maximum speed for each joint 0004 % the other cases are scaled according to a maximum value of v6000 0005 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0006 0007 % Copyright (C) 2012, by Arturo Gil Aparicio 0008 % 0009 % This file is part of ARTE (A Robotics Toolbox for Education). 0010 % 0011 % ARTE is free software: you can redistribute it and/or modify 0012 % it under the terms of the GNU Lesser General Public License as published by 0013 % the Free Software Foundation, either version 3 of the License, or 0014 % (at your option) any later version. 0015 % 0016 % ARTE is distributed in the hope that it will be useful, 0017 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0018 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0019 % GNU Lesser General Public License for more details. 0020 % 0021 % You should have received a copy of the GNU Leser General Public License 0022 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0023 function vel=obtain_joint_speed(robot, speeddata) 0024 0025 0026 if strncmp(speeddata, 'vmax',4); 0027 vel=robot.velmax; 0028 else 0029 [tag,remain] = strtok(speeddata, 'v'); 0030 vel = robot.velmax.*str2num(tag)/6000; 0031 end