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improve arduino run_state and fix sine example movement units

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This commit is contained in:
Oskar Weigl
2020-10-09 17:22:23 -07:00
parent f37a50f0bb
commit db4022a044
3 changed files with 8 additions and 8 deletions
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Arduino/ODriveArduino/ODriveArduino.cpp
+2 -2
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@@ -59,8 +59,8 @@ int32_t ODriveArduino::readInt() {
return readString().toInt();
}
bool ODriveArduino::run_state(int axis, int requested_state, bool wait) {
int timeout_ctr = 100;
bool ODriveArduino::run_state(int axis, int requested_state, bool wait_for_idle, float timeout) {
int timeout_ctr = (int)(timeout * 10.0f);
serial_ << "w axis" << axis << ".requested_state " << requested_state << '\n';
if (wait) {
do {
Arduino/ODriveArduino/ODriveArduino.h
+1 -1
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@@ -35,7 +35,7 @@ public:
int32_t readInt();
// State helper
bool run_state(int axis, int requested_state, bool wait);
bool run_state(int axis, int requested_state, bool wait_for_idle, float timeout = 10.0f);
private:
String readString();
Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino
+5 -5
View File
@@ -52,23 +52,23 @@ void loop() {
requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
odrive.run_state(motornum, requested_state, true);
if(!odrive.run_state(motornum, requested_state, true)) return;
requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
odrive.run_state(motornum, requested_state, true);
if(!odrive.run_state(motornum, requested_state, true, 25.0f)) return;
requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
odrive.run_state(motornum, requested_state, false); // don't wait
if(!odrive.run_state(motornum, requested_state, false /*don't wait*/)) return;
}
// Sinusoidal test move
if (c == 's') {
Serial.println("Executing test move");
for (float ph = 0.0f; ph < 6.28318530718f; ph += 0.01f) {
float pos_m0 = 20000.0f * cos(ph);
float pos_m1 = 20000.0f * sin(ph);
float pos_m0 = 2.0f * cos(ph);
float pos_m1 = 2.0f * sin(ph);
odrive.SetPosition(0, pos_m0);
odrive.SetPosition(1, pos_m1);
delay(5);