ODrive用ライブラリ
Revision 1:dc0c02b4a1b0, committed 2019-09-13
- Comitter:
- m204517
- Date:
- Fri Sep 13 05:49:54 2019 +0000
- Parent:
- 0:c191cf9bf1a3
- Commit message:
- modification
Changed in this revision
ODriveLibTest.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/ODriveLibTest.cpp Fri Sep 13 05:05:14 2019 +0000 +++ b/ODriveLibTest.cpp Fri Sep 13 05:49:54 2019 +0000 @@ -8,7 +8,6 @@ #include "ODriveLibTest.h" //using namespace std; - //using std::string; static const int kMotorOffsetFloat = 2; @@ -22,15 +21,6 @@ Timer timeoutTimer; -// Print with stream operator -//template<class T> inline Stream& operator <<(Stream &obj, T arg) { obj.printf(arg); return obj; } -//template<> inline Stream& operator <<(Stream &obj, float arg) { obj.printf(arg, 4); return obj; } -/*template<class T> inline Stream& operator <<(Stream &obj, T arg) -{ - obj.printf(arg); - return obj; -}*/ - ODriveLibTest::ODriveLibTest(Stream& serial) : serial_(serial) {} @@ -52,18 +42,8 @@ } void ODriveLibTest::SetLimit(int motor_number, float vel_limit, float current_lim) { - //serial_ << "w axis" << motor_number << ".controller.config.vel_limit " << vel_limit << '\n'; - //serial_ << "w axis" << motor_number << ".motor.config.current_lim " << current_lim << '\n'; - serial_.printf("w axis"); - serial_.printf("%d", motor_number); - serial_.printf(".controller.config.vel_limit "); - serial_.printf("%f", vel_limit); - serial_.printf("\n"); - serial_.printf("w axis"); - serial_.printf("%d", motor_number); - serial_.printf(".motor.config.current_lim "); - serial_.printf("%f", current_lim); - serial_.printf("\n"); + serial_.printf("w axis%d.controller.config.vel_limit %f\n", motor_number, vel_limit); + serial_.printf("w axis%d.motor.config.current_lim %f\n", motor_number, current_lim); // まとめて初期化したいとき //for (int axis = 0; axis < 2; ++axis) { @@ -75,30 +55,12 @@ void ODriveLibTest::ODriveInit(int motor_number) { //run_state(motor_number, AXIS_STATE_FULL_CALIBRATION_SEQUENCE, true); run_state(motor_number, AXIS_STATE_ENCODER_INDEX_SEARCH, true); - // serial_ << "w axis" << motor_number << ".encoder.is_ready " << 1 << '\n'; run_state(motor_number, AXIS_STATE_CLOSED_LOOP_CONTROL, false); // don't wait } -/*void ODriveLibTest::SetPosition(int motor_number, float position) { - SetPosition(motor_number, position, 0.0f, 0.0f); -} - -void ODriveLibTest::SetPosition(int motor_number, float position, float velocity_feedforward) { - SetPosition(motor_number, position, velocity_feedforward, 0.0f); -}*/ - void ODriveLibTest::SetPosition(int motor_number, float position, float velocity_feedforward, float current_feedforward) { - //serial_ << "p " << motor_number << " " << position << " " << velocity_feedforward << " " << current_feedforward << "\n"; - serial_.printf("p "); - serial_.printf("%d", motor_number); - serial_.printf(" "); - serial_.printf("%f", position); - serial_.printf(" "); - serial_.printf("%f", velocity_feedforward); - serial_.printf(" "); - serial_.printf("%f", current_feedforward); - serial_.printf("\n"); + serial_.printf("p %d %f %f %f\n", motor_number, position, velocity_feedforward, current_feedforward); } void ODriveLibTest::SetVelocity(int motor_number, float velocity) { @@ -106,32 +68,15 @@ } void ODriveLibTest::SetVelocity(int motor_number, float velocity, float current_feedforward) { - //serial_ << "v " << motor_number << " " << velocity << " " << current_feedforward << "\n"; - serial_.printf("v "); - serial_.printf("%d", motor_number); - serial_.printf(" "); - serial_.printf("%f", velocity); - serial_.printf(" "); - serial_.printf("%f", current_feedforward); - serial_.printf("\n"); + serial_.printf("v %d %f %f\n", motor_number, velocity, current_feedforward); } void ODriveLibTest::SetCurrent(int motor_number, float current) { - //serial_ << "c " << motor_number << " " << current << "\n"; - serial_.printf("c "); - serial_.printf("%d", motor_number); - serial_.printf(" "); - serial_.printf("%f", current); - serial_.printf("\n"); + serial_.printf("c %d %f\n", motor_number, current); } void ODriveLibTest::TrapezoidalMove(int motor_number, float position){ - //serial_ << "t " << motor_number << " " << position << "\n"; - serial_.printf("c "); - serial_.printf("%d", motor_number); - serial_.printf(" "); - serial_.printf("%f", position); - serial_.printf("\n"); + serial_.printf("c %d %f\n", motor_number, position); } float ODriveLibTest::readFloat() { @@ -139,10 +84,7 @@ } float ODriveLibTest::GetVelocity(int motor_number){ - //serial_<< "r axis" << motor_number << ".encoder.vel_estimate\n"; - serial_.printf("r axis"); - serial_.printf("%d", motor_number); - serial_.printf(".encoder.vel_estimate\n"); + serial_.printf("r axis%d.encoder.vel_estimate\n", motor_number); return ODriveLibTest::readFloat(); } @@ -152,19 +94,11 @@ bool ODriveLibTest::run_state(int axis, int requested_state, bool wait) { int timeout_ctr = 100; - //serial_ << "w axis" << axis << ".requested_state " << requested_state << '\n'; - serial_.printf("w axis"); - serial_.printf("%d", axis); - serial_.printf(".requested_state "); - serial_.printf("%d", requested_state); - serial_.printf("\n"); + serial_.printf("w axis%d.requested_state %d\n", axis, requested_state); if (wait) { do { wait_ms(100); - //serial_ << "r axis" << axis << ".current_state\n"; - serial_.printf("r axis"); - serial_.printf("%d", axis); - serial_.printf(".current_state\n"); + serial_.printf("r axis%d.current_state\n", axis); } while (readInt() != AXIS_STATE_IDLE && --timeout_ctr > 0); }