diff options
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/md25/md25.cpp | 17 | ||||
-rw-r--r-- | src/drivers/md25/md25.hpp | 13 | ||||
-rw-r--r-- | src/drivers/md25/md25_main.cpp | 27 |
3 files changed, 50 insertions, 7 deletions
diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp index d6dd64a09..d43e3aef9 100644 --- a/src/drivers/md25/md25.cpp +++ b/src/drivers/md25/md25.cpp @@ -116,7 +116,8 @@ MD25::MD25(const char *deviceName, int bus, setMotor2Speed(0); resetEncoders(); _setMode(MD25::MODE_UNSIGNED_SPEED); - setSpeedRegulation(true); + setSpeedRegulation(false); + setMotorAccel(10); setTimeout(true); } @@ -308,6 +309,12 @@ int MD25::setDeviceAddress(uint8_t address) return OK; } +int MD25::setMotorAccel(uint8_t accel) +{ + return _writeUint8(REG_ACCEL_RATE_RW, + accel); +} + int MD25::setMotor1Speed(float value) { return _writeUint8(REG_SPEED1_RW, @@ -461,12 +468,12 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address) MD25 md25("/dev/md25", bus, address); // print status - char buf[200]; + char buf[400]; md25.status(buf, sizeof(buf)); printf("%s\n", buf); // setup for test - md25.setSpeedRegulation(true); + md25.setSpeedRegulation(false); md25.setTimeout(true); float dt = 0.1; float speed = 0.2; @@ -568,12 +575,12 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu MD25 md25("/dev/md25", bus, address); // print status - char buf[200]; + char buf[400]; md25.status(buf, sizeof(buf)); printf("%s\n", buf); // setup for test - md25.setSpeedRegulation(true); + md25.setSpeedRegulation(false); md25.setTimeout(true); float dt = 0.01; float t_final = 60.0; diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp index 780978514..1661f67f9 100644 --- a/src/drivers/md25/md25.hpp +++ b/src/drivers/md25/md25.hpp @@ -213,6 +213,19 @@ public: int setDeviceAddress(uint8_t address); /** + * set motor acceleration + * @param accel + * controls motor speed change (1-10) + * accel rate | time for full fwd. to full rev. + * 1 | 6.375 s + * 2 | 1.6 s + * 3 | 0.675 s + * 5(default) | 1.275 s + * 10 | 0.65 s + */ + int setMotorAccel(uint8_t accel); + + /** * set motor 1 speed * @param normSpeed normalize speed between -1 and 1 * @return non-zero -> error diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp index 3260705c1..7e5904d05 100644 --- a/src/drivers/md25/md25_main.cpp +++ b/src/drivers/md25/md25_main.cpp @@ -82,7 +82,7 @@ usage(const char *reason) if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n"); + fprintf(stderr, "usage: md25 {start|stop|read|status|search|test|change_address}\n\n"); exit(1); } @@ -184,6 +184,29 @@ int md25_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "read")) { + if (argc < 4) { + printf("usage: md25 read bus address\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[2], nullptr, 0); + + uint8_t address = strtoul(argv[3], nullptr, 0); + + MD25 md25(deviceName, bus, address); + + // print status + char buf[400]; + md25.status(buf, sizeof(buf)); + printf("%s\n", buf); + + exit(0); + } + + if (!strcmp(argv[1], "search")) { if (argc < 3) { printf("usage: md25 search bus\n"); @@ -268,7 +291,7 @@ int md25_thread_main(int argc, char *argv[]) uint8_t address = strtoul(argv[4], nullptr, 0); // start - MD25 md25("/dev/md25", bus, address); + MD25 md25(deviceName, bus, address); thread_running = true; |