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CTRL_MODE --> CONTROL_MODE in utils.py

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2020-07-10 16:30:37 -04:00
parent 0ee6c92cea
commit b58d169acc
1 changed files with 3 additions and 3 deletions
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tools/odrive/utils.py
+3 -3
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@@ -201,14 +201,14 @@ def step_and_plot( axis,
step_size=100.0,
settle_time=0.5,
data_rate=500.0,
ctrl_mode=CTRL_MODE_POSITION_CONTROL):
ctrl_mode=CONTROL_MODE_POSITION_CONTROL):
if ctrl_mode is CTRL_MODE_POSITION_CONTROL:
if ctrl_mode is CONTROL_MODE_POSITION_CONTROL:
get_var_callback = lambda :[axis.encoder.pos_estimate, axis.controller.pos_setpoint]
initial_setpoint = axis.encoder.pos_estimate
def set_setpoint(setpoint):
axis.controller.pos_setpoint = setpoint
elif ctrl_mode is CTRL_MODE_VELOCITY_CONTROL:
elif ctrl_mode is CONTROL_MODE_VELOCITY_CONTROL:
get_var_callback = lambda :[axis.encoder.vel_estimate, axis.controller.vel_setpoint]
initial_setpoint = 0
def set_setpoint(setpoint):