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Add usb command for anticogging

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This commit is contained in:
Paul Guenette
2018-02-21 20:41:00 -05:00
parent 8bbc9d0744
commit 48cbcc7d37
1 changed files with 11 additions and 0 deletions
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Firmware/MotorControl/commands.cpp
+11
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@@ -87,6 +87,14 @@ void motors_1_set_current_setpoint_func(void) {
set_current_setpoint(&motors[1],
motors[1].set_current_setpoint_args.current_setpoint);
}
void motors_run_anticogging_calibration_func() {
for (uint8_t i = 0; i < num_motors; i++) {
// Ensure the cogging map was correctly allocated earlier and that the motor is capable of calibrating
if (motors[i].anticogging.cogging_map != NULL && motors[i].error == ERROR_NO_ERROR) {
motors[i].anticogging.calib_anticogging = true;
}
}
}
// This table specifies which fields and functions are exposed on the USB and UART ports.
// TODO: Autogenerate this table. It will come up again very soon in the Arduino library.
@@ -97,6 +105,9 @@ const Endpoint endpoints[] = {
Endpoint::make_property("UUID_0", (const uint32_t*)(ID_UNIQUE_ADDRESS + 0*4)),
Endpoint::make_property("UUID_1", (const uint32_t*)(ID_UNIQUE_ADDRESS + 1*4)),
Endpoint::make_property("UUID_2", (const uint32_t*)(ID_UNIQUE_ADDRESS + 2*4)),
Endpoint::make_function("run_anticogging_calibration", &motors_run_anticogging_calibration_func),
// No parameters, but still requires a close_tree()
Endpoint::close_tree(),
Endpoint::make_object("motor0"),
Endpoint::make_property("control_mode", reinterpret_cast<int32_t*>(&motors[0].control_mode)),
Endpoint::make_property("error", reinterpret_cast<int32_t*>(&motors[0].error)),