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Added position getter function for arduino

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Added GetPosition function in ODriveArduino file to accompany the existing GetVelocity function. Changed arduino example file to demonstrate usage over previous verbose implementation.
This commit is contained in:
Aaron de los Santos
2021-06-08 15:55:36 -07:00
parent 1cae69d348
commit 8302de1129
3 changed files with 9 additions and 5 deletions
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10
Arduino/ODriveArduino/ODriveArduino.cpp
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@@ -1,4 +1,3 @@
#include "Arduino.h"
#include "ODriveArduino.h"
@@ -42,7 +41,7 @@ void ODriveArduino::SetCurrent(int motor_number, float current) {
serial_ << "c " << motor_number << " " << current << "\n";
}
void ODriveArduino::TrapezoidalMove(int motor_number, float position){
void ODriveArduino::TrapezoidalMove(int motor_number, float position) {
serial_ << "t " << motor_number << " " << position << "\n";
}
@@ -50,11 +49,16 @@ float ODriveArduino::readFloat() {
return readString().toFloat();
}
float ODriveArduino::GetVelocity(int motor_number){
float ODriveArduino::GetVelocity(int motor_number) {
serial_<< "r axis" << motor_number << ".encoder.vel_estimate\n";
return ODriveArduino::readFloat();
}
float ODriveArduino::GetPosition(int motor_number) {
serial_ << "r axis" << motor_number << ".encoder.pos_estimate\n";
return ODriveArduino::readFloat();
}
int32_t ODriveArduino::readInt() {
return readString().toInt();
}