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Fix ::run_state method (wait_for_idle instead of idle) and better vel_limit setting in .ino sketch example

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Pull changes from arduino-improvements branch into master
This commit is contained in:
PAJohnson
2020-10-14 19:32:39 -04:00
parent b4e5469dcf
commit ed8705071f
3 changed files with 41 additions and 16 deletions
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Arduino/ODriveArduino/ODriveArduino.cpp
+3 -3
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@@ -59,10 +59,10 @@ 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) {
if (wait_for_idle) {
do {
delay(100);
serial_ << "r axis" << axis << ".current_state\n";