Revision 1:8e3e04f1a7f0, committed 2019-09-13

Comitter:

m204517

Date:

Fri Sep 13 05:50:03 2019 +0000

Parent:

0:763fa4531dbb

Commit message:

modification

Changed in this revision

--- a/ODriveLibTest.lib	Fri Sep 13 05:07:44 2019 +0000
+++ b/ODriveLibTest.lib	Fri Sep 13 05:50:03 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/m204517/code/ODriveLibTest/#c191cf9bf1a3
+https://os.mbed.com/users/m204517/code/ODriveLibTest/#dc0c02b4a1b0

--- a/main.cpp	Fri Sep 13 05:07:44 2019 +0000
+++ b/main.cpp	Fri Sep 13 05:50:03 2019 +0000
@@ -1,18 +1,6 @@
 #include "mbed.h"
 #include "ODriveLibTest.h"
 
-// Printing 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;
-}*/
-
 // Serial to the ODrive
 Serial odrive_serial(p9, p10); //TX (ODrive RX), RX (ODrive TX)
 Serial PC(USBTX, USBRX); //
@@ -26,9 +14,6 @@
     // ODrive uses 115200 baud
     odrive_serial.baud(115200);
 
-    // ODrive object
-    //ODriveArduino odrive(odrive_serial);
-
     // Serial to PC
     PC.baud(115200);
     while (!PC) ; // wait for Arduino Serial Monitor to open
@@ -37,50 +22,16 @@
     PC.printf("Setting parameters...");
 
     odrive.SetLimit(0, 22000.0f, 50.0f);
-    wait_ms(100);
     odrive.SetLimit(1, 22000.0f, 50.0f);
-    wait_ms(100);
     odrive.ODriveInit(0);
-    wait_ms(100);
     odrive.ODriveInit(1);
-    wait_ms(100);
-    // In this example we set the same parameters to both motors.
-    // You can of course set them different if you want.
-    // See the documentation or play around in odrivetool to see the available parameters
-    /*for (int axis = 0; axis < 2; ++axis) {
-      odrive_serial << "w axis" << axis << ".controller.config.vel_limit " << 22000.0f << '\n';
-      odrive_serial << "w axis" << axis << ".motor.config.current_lim " << 11.0f << '\n';
-      // This ends up writing something like "w axis0.motor.config.current_lim 10.0\n"
-    }*/
-
-    //delay(100);
-
-    // is_readyをTrueに
-    //odrive_serial << "w axis0.encoder.is_ready " << 1 << '\n';
-    //delay(50);
-    //int requested_state = ODriveArduino::AXIS_STATE_ENCODER_INDEX_SEARCH;
-    //Serial << "Axis0: Requesting state " << requested_state << '\n';
-    //odrive.run_state(0, requested_state, true);
-
-    //int requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL;
-    //Serial << "Axis0: Requesting state " << requested_state << '\n';
-    //odrive.run_state(0, requested_state, false); // don't wait
-    //delay(50);
-
+    
     PC.printf("Ready!");
-    // Serial.println("Send the character '0' or '1' to calibrate respective motor (you must do this before you can command movement)");
-    // Serial.println("Send the character 's' to exectue test move");
-    // Serial.println("Send the character 'b' to read bus voltage");
-    // Serial.println("Send the character 'p' to read motor positions in a 10s loop");
-    //odrive_serial << "w axis0.controller.vel_setpoint " << 12000 << '\n';
 
     while(1) {
         if (PC.readable()) {
             char c = PC.getc();
-            //int velNum = c - '0';
-
-            //odrive_serial << "w axis0.controller.vel_setpoint " << 12000 << '\n';
-            //Serial.println(velNum);
+            
             if( c == 'm' ) {
                 odrive.SetVelocity(0, 12000);
                 odrive.SetVelocity(1, 12000);