Diff: kinematics.cpp

Revision:

5:01e1e68309ae

Parent:

4:778bc352c47f

--- a/kinematics.cpp	Sun Oct 07 19:40:12 2018 +0000
+++ b/kinematics.cpp	Mon Oct 15 18:30:20 2018 +0000
@@ -109,15 +109,18 @@
 
 void Kinematics::activateMotors()
 {
-    C->setMaxVel(15001); // for safety of the linkages, override to go fast!
-    Thread::wait(100);
-    A->setMaxVel(15001);
-    Thread::wait(100);
-    B->setMaxVel(15001);
-    Thread::wait(100);
-    C->odrive->serial_.printf("w axis0.controller.config.vel_limit %f\n",15002);
-    B->odrive->serial_.printf("w axis0.controller.config.vel_limit %f\n",15002);
-    A->odrive->serial_.printf("w axis0.controller.config.vel_limit %f\n",15002);
+    //int error = 0;
+    //C->setMaxVel(15001); // for safety of the linkages, override to go fast!
+
+//    Thread::wait(100);
+//        C->setSafePerams(15004, 0.00025, 4000, 250,0.001);
+//    Thread::wait(100);
+//    B->setSafePerams(15004, 0.00025, 4000, 250,0.001);
+//    Thread::wait(100);
+//    A->setSafePerams(15004, 0.00025, 4000, 250,0.001);
+//    Thread::wait(100);
+
+    //buffered_pc.printf("there were %d errors in setting perameters",error);
 
     int requested_state;
     requested_state = ODrive::AXIS_STATE_CLOSED_LOOP_CONTROL;
@@ -126,6 +129,39 @@
     C->runState(requested_state);
 }
 
+int Kinematics::setSafeParams(){
+        int error = 0;
+        error += C->setParams(15004, 0.00025, 4000, 250,0.001);
+    Thread::wait(1);
+    error +=B->setParams(15004, 0.00025, 4000, 250,0.001);
+    Thread::wait(1);
+    error +=A->setParams(15004, 0.00025, 4000, 250,0.001);
+    Thread::wait(1);
+     buffered_pc.printf("there were %d errors in setting perameters",error);
+     return error;
+    }
+    
+    int Kinematics::setFastParams(){
+        int error = 0;
+        error += C->setParams(40000, 0.00032, 4000, 300,0.001);
+    Thread::wait(1);
+    error +=B->setParams(40000, 0.00032, 4000, 300,0.001);
+    Thread::wait(1);
+    error +=A->setParams(40000, 0.00032, 4000, 300,0.001);
+    Thread::wait(1);
+     buffered_pc.printf("there were %d errors in setting perameters",error);
+     return error;
+    }
+
+void Kinematics::findIndex(){
+    Thread::wait(100);
+    A->findIndex();
+    Thread::wait(100);
+    B->findIndex();
+    Thread::wait(100);
+    C->findIndex();
+}
+
 void Kinematics::homeMotors()
 {
     Thread::wait(1000);
@@ -136,6 +172,16 @@
     C->homeAxis();
 }
 
+void Kinematics::goIdle(){
+    Thread::wait(100);
+    A->idle();
+    Thread::wait(100);
+    B->idle();
+    Thread::wait(100);
+    C->idle();
+    Thread::wait(100);
+}
+
 int Kinematics::goToPos(float x, float y, float z)
 {
     //int error = delta_calcInverse(x,y,z,a,b,c);