Made force_mode_example check for robot version

And execute the appropriate startForceMode, depending on version.
URJala · Jul 10, 2024 · bd4ddd9 · bd4ddd9
1 parent 62bf4d3
commit bd4ddd9
Showing 1 changed file with 19 additions and 8 deletions.
diff --git a/examples/force_mode_example.cpp b/examples/force_mode_example.cpp
@@ -149,14 +149,25 @@ int main(int argc, char* argv[])
   }
   // Task frame at the robot's base with limits being large enough to cover the whole workspace
   // Compliance in z axis and rotation around z axis
-
-  bool success = g_my_driver->startForceMode({ 0, 0, 0, 0, 0, 0 },  // Task frame at the robot's base
-                                             { 0, 0, 1, 0, 0, 1 },  // Compliance in z axis and rotation around z axis
-                                             { 0, 0, 0, 0, 0, 0 },  // do not apply any active wrench
-                                             2,                     // do not transform the force frame at all
-                                             { 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 }  // limits. See ScriptManual
-                                             ,
-                                             0.8, 0.8);  // for details.
+  bool success;
+  if (g_my_driver->getVersion().major < 5)
+    success = g_my_driver->startForceMode({ 0, 0, 0, 0, 0, 0 },  // Task frame at the robot's base
+                                          { 0, 0, 1, 0, 0, 1 },  // Compliance in z axis and rotation around z axis
+                                          { 0, 0, 0, 0, 0, 0 },  // do not apply any active wrench
+                                          2,                     // do not transform the force frame at all
+                                          { 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 }  // limits. See ScriptManual
+                                          ,
+                                          0.8);  // for details.
+  else
+  {
+    success = g_my_driver->startForceMode({ 0, 0, 0, 0, 0, 0 },  // Task frame at the robot's base
+                                          { 0, 0, 1, 0, 0, 1 },  // Compliance in z axis and rotation around z axis
+                                          { 0, 0, 0, 0, 0, 0 },  // do not apply any active wrench
+                                          2,                     // do not transform the force frame at all
+                                          { 0.1, 0.1, 1.5, 3.14, 3.14, 0.5 }  // limits. See ScriptManual
+                                          ,
+                                          0.8, 0.8);  // for details.
+  }
   if (!success)
   {
     URCL_LOG_ERROR("Failed to start force mode.");