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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/examples/ODriveArduinoTest/ODriveArduinoTest.ino
+5 -5
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@@ -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);