mirror of
https://github.com/odriverobotics/ODrive.git
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e59ee5cda1
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.
36 lines
1.0 KiB
C++
36 lines
1.0 KiB
C++
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#ifndef ODriveArduino_h
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#define ODriveArduino_h
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#include "Arduino.h"
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#include "ODriveEnums.h"
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class ODriveArduino {
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public:
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ODriveArduino(Stream& serial);
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// Commands
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void SetPosition(int motor_number, float position);
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void SetPosition(int motor_number, float position, float velocity_feedforward);
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void SetPosition(int motor_number, float position, float velocity_feedforward, float current_feedforward);
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void SetVelocity(int motor_number, float velocity);
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void SetVelocity(int motor_number, float velocity, float current_feedforward);
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void SetCurrent(int motor_number, float current);
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void TrapezoidalMove(int motor_number, float position);
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// Getters
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float GetVelocity(int motor_number);
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float GetPosition(int motor_number);
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// General params
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float readFloat();
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int32_t readInt();
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// State helper
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bool run_state(int axis, int requested_state, bool wait_for_idle, float timeout = 10.0f);
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private:
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String readString();
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Stream& serial_;
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};
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#endif //ODriveArduino_h
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