Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-27 22:38:10 +08:00
Code Issues Packages Projects Releases Wiki Activity

add step/dir input tests

Browse Source
This commit is contained in:
Samuel Sadok
2020-04-21 15:57:26 +02:00
parent e5cd33495f
commit 237a50bfc9
5 changed files with 171 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/axis.hpp
+7 -1
View File
@@ -68,8 +68,14 @@ public:
bool startup_closed_loop_control = false; //<! enable closed loop control after calibration/startup
bool startup_sensorless_control = false; //<! enable sensorless control after calibration/startup
bool startup_homing = false; //<! enable homing after calibration/startup
bool enable_step_dir = false; //<! enable step/dir input after calibration
// For M0 this has no effect if enable_uart is true
bool step_dir_always_on = false; //<! Keep step/dir enabled while the motor is disabled.
//<! This is ignored if enable_step_dir is false.
//<! This setting only takes effect on a state transition
//<! into idle or out of closed loop control.
float counts_per_step = 2.0f;
float watchdog_timeout = 0.0f; // [s] (0 disables watchdog)
@@ -120,7 +126,6 @@ public:
void step_cb();
void set_step_dir_active(bool enable);
void decode_step_dir_pins();
void update_watchdog_settings();
static void load_default_step_dir_pin_config(
const AxisHardwareConfig_t& hw_config, Config_t* config);
@@ -276,6 +281,7 @@ public:
make_protocol_property("startup_sensorless_control", &config_.startup_sensorless_control),
make_protocol_property("startup_homing", &config_.startup_homing),
make_protocol_property("enable_step_dir", &config_.enable_step_dir),
make_protocol_property("step_dir_always_on", &config_.step_dir_always_on),
make_protocol_property("counts_per_step", &config_.counts_per_step),
make_protocol_property("watchdog_timeout", &config_.watchdog_timeout),
make_protocol_property("enable_watchdog", &config_.enable_watchdog),