From dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4 Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Sun, 28 Jul 2013 22:27:05 -0400
Subject: Segway stabilized.

---
 src/drivers/md25/md25.cpp      | 17 ++++++++++++-----
 src/drivers/md25/md25.hpp      | 13 +++++++++++++
 src/drivers/md25/md25_main.cpp | 27 +++++++++++++++++++++++++--
 3 files changed, 50 insertions(+), 7 deletions(-)

(limited to 'src/drivers')

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
@@ -212,6 +212,19 @@ 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
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;
 
-- 
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