Mirrors_Framework/ODrive
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update Arduino lib to new ascii protocol

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This commit is contained in:
Oskar Weigl
2018-06-09 18:24:34 -07:00
parent 375156db6c
commit bdbd0409ed
4 changed files with 65 additions and 126 deletions
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68
Arduino/ODriveArduino/ODriveArduino.cpp
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@@ -27,7 +27,7 @@ void ODriveArduino::SetPosition(int motor_number, float position, float velocity
}
void ODriveArduino::SetPosition(int motor_number, float position, float velocity_feedforward, float current_feedforward) {
serial_ << "$p " << motor_number << " " << position << " " << velocity_feedforward << " " << current_feedforward << "!";
serial_ << "p " << motor_number << " " << position << " " << velocity_feedforward << " " << current_feedforward << "\n";
}
void ODriveArduino::SetVelocity(int motor_number, float velocity) {
@@ -35,60 +35,9 @@ void ODriveArduino::SetVelocity(int motor_number, float velocity) {
}
void ODriveArduino::SetVelocity(int motor_number, float velocity, float current_feedforward) {
serial_ << "$v " << motor_number << " " << velocity << " " << current_feedforward << "!";
serial_ << "v " << motor_number << " " << velocity << " " << current_feedforward << "\n";
}
float ODriveArduino::getBusVoltage() {
serial_ << "$g 0 0!";
return readFloat();
}
float ODriveArduino::GetParameter(int motor_number, ParamNamesFloat parameter) {
int idx = kMotorOffsetFloat + kMotorStrideFloat * motor_number + parameter;
serial_ << "$g 0 " << idx << "!";
return readString().toFloat();
}
int32_t ODriveArduino::GetParameter(int motor_number, ParamNamesInt32 parameter) {
int idx = kMotorOffsetInt32 + kMotorStrideInt32 * motor_number + parameter;
serial_ << "$g 1 " << idx << "!";
return readString().toInt();
}
bool ODriveArduino::GetParameter(int motor_number, ParamNamesBool parameter) {
int idx = kMotorOffsetBool + kMotorStrideBool * motor_number + parameter;
serial_ << "$g 2 " << idx << "!";
return readString().toInt();
}
uint16_t ODriveArduino::GetParameter(int motor_number, ParamNamesUint16 parameter) {
int idx = kMotorOffsetUint16 + kMotorStrideUint16 * motor_number + parameter;
serial_ << "$g 3 " << idx << "!";
return readString().toInt();
}
void ODriveArduino::SetParameter(int motor_number, ParamNamesFloat parameter, float value) {
int idx = kMotorOffsetFloat + kMotorStrideFloat * motor_number + parameter;
serial_ << "$s 0 " << idx << " " << value << "!";
}
void ODriveArduino::SetParameter(int motor_number, ParamNamesInt32 parameter, int32_t value) {
int idx = kMotorOffsetInt32 + kMotorStrideInt32 * motor_number + parameter;
serial_ << "$s 1 " << idx << " " << value << "!";
}
void ODriveArduino::SetParameter(int motor_number, ParamNamesBool parameter, bool value) {
int idx = kMotorOffsetBool + kMotorStrideBool * motor_number + parameter;
serial_ << "$s 2 " << idx << " " << value << "!";
}
void ODriveArduino::SetParameter(int motor_number, ParamNamesUint16 parameter, uint16_t value) {
int idx = kMotorOffsetUint16 + kMotorStrideUint16 * motor_number + parameter;
serial_ << "$s 3 " << idx << " " << value << "!";
}
float ODriveArduino::readFloat() {
return readString().toFloat();
}
@@ -97,6 +46,19 @@ int32_t ODriveArduino::readInt() {
return readString().toInt();
}
bool ODriveArduino::run_state(int axis, int requested_state, bool wait) {
int timeout_ctr = 100;
serial_ << "w axis" << axis << ".requested_state " << requested_state << '\n';
if (wait) {
do {
delay(100);
serial_ << "r axis" << axis << ".current_state\n";
} while (readInt() != AXIS_STATE_IDLE && --timeout_ctr > 0);
}
return timeout_ctr > 0;
}
String ODriveArduino::readString() {
String str = "";
static const unsigned long timeout = 1000;