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Replaced old inline enum with autogenerated enum header

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Deleted the manually added enum in the ODriveArduino class. Removed the scope resolution operator from the ODriveArduinoTest.ino file to access enums as it can be accessed from the global namespace.
This commit is contained in:
Aaron de los Santos
2021-06-13 17:28:10 -07:00
parent b104671642
commit e59ee5cda1
2 changed files with 4 additions and 15 deletions
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13
Arduino/ODriveArduino/ODriveArduino.h
View File

@@ -3,21 +3,10 @@
#define ODriveArduino_h
#include "Arduino.h"
#include "ODriveEnums.h"
class ODriveArduino {
public:
enum AxisState_t {
AXIS_STATE_UNDEFINED = 0, //<! will fall through to idle
AXIS_STATE_IDLE = 1, //<! disable PWM and do nothing
AXIS_STATE_STARTUP_SEQUENCE = 2, //<! the actual sequence is defined by the config.startup_... flags
AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3, //<! run all calibration procedures, then idle
AXIS_STATE_MOTOR_CALIBRATION = 4, //<! run motor calibration
AXIS_STATE_SENSORLESS_CONTROL = 5, //<! run sensorless control
AXIS_STATE_ENCODER_INDEX_SEARCH = 6, //<! run encoder index search
AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7, //<! run encoder offset calibration
AXIS_STATE_CLOSED_LOOP_CONTROL = 8 //<! run closed loop control
};
ODriveArduino(Stream& serial);
// Commands

6
Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino
View File

@@ -75,15 +75,15 @@ void loop() {
int motornum = c-'0';
int requested_state;
requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION;
requested_state = AXIS_STATE_MOTOR_CALIBRATION;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
if(!odrive.run_state(motornum, requested_state, true)) return;
requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
if(!odrive.run_state(motornum, requested_state, true, 25.0f)) return;
requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL;
requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL;
Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
if(!odrive.run_state(motornum, requested_state, false /*don't wait*/)) return;
}