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added control mode setters (current and velocity)

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Lukas
2019-03-10 19:55:38 +01:00
parent 40f24fd30b
commit 9b894a9bb1
2 changed files with 10 additions and 0 deletions
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Arduino/ODriveArduino/ODriveArduino.cpp
+8
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@@ -46,6 +46,14 @@ void ODriveArduino::TrapezoidalMove(int motor_number, float position){
serial_ << "t " << motor_number << " " << position << "\n";
}
void ODriveArduino::SetControlModeCurrent(int motor_number){
serial_<< "w axis" << motor_number << ".controller.config.control_mode " << 1 << "\n";
}
void ODriveArduino::SetControlModeVelocity(int motor_number){
serial_<< "w axis" << motor_number << ".controller.config.control_mode " << 2 << "\n";
}
float ODriveArduino::readFloat() {
return readString().toFloat();
}
Arduino/ODriveArduino/ODriveArduino.h
+2
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@@ -28,6 +28,8 @@ public:
void SetVelocity(int motor_number, float velocity, float current_feedforward);
void SetCurrent(int motor_number, float current);
void TrapezoidalMove(int motor_number, float position);
void SetControlModeCurrent(int motor_number);
void SetControlModeVelocity(int motor_number);
// General params
float readFloat();
int32_t readInt();