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Arduino: only try to config if device is not already configured

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This commit is contained in:
Samuel Sadok
2018-04-27 15:59:12 -07:00
parent d6496ca574
commit d9be12d400
1 changed files with 11 additions and 0 deletions
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ArduinoI2C/ArduinoI2C.ino
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@@ -34,6 +34,16 @@ int set_and_save_configuration(uint8_t odrive_num, uint8_t axis_num) {
if (!success)
return __LINE__;
// select hall effect mode
bool user_config_loaded = false;
success = odrive::read_property<odrive::USER_CONFIG_LOADED>(odrive_num, &user_config_loaded);
if (!success)
return __LINE__;
if (user_config_loaded) {
Serial.println("ODrive already configured");
return 0;
}
// select hall effect mode
success = odrive::write_axis_property<odrive::AXIS__ENCODER__CONFIG__MODE>(odrive_num, axis_num, 1);
if (!success)
@@ -108,6 +118,7 @@ bool do_setup = true;
void setup() {
Wire.begin(); // join i2c bus (address optional for master)
Serial.begin(9600);
Serial.println("Hello World!");
if (do_setup) {
Serial.println("Starting ODrive setup...");