Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-10-11 22:54:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

added control mode setters (current and velocity)

Browse Source
This commit is contained in:
Lukas
2019-03-10 19:55:38 +01:00
parent 40f24fd30b
commit 9b894a9bb1
2 changed files with 10 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Arduino/ODriveArduino/ODriveArduino.cpp
+8
View File
@@ -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();
}