Magnezijum-Robotics/magrob
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Refactored mg_control

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This commit is contained in:
Pimpest
2025-02-25 10:58:28 +01:00
parent b5d474ff01
commit 581eca8720
2 changed files with 47 additions and 64 deletions
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33
mg_control/include/mg_control/mg_control.hpp
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@ -3,7 +3,6 @@
#include <vector>
#include <string>
#include "libserial/SerialPort.h"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/system_interface.hpp"
@ -11,24 +10,28 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "pluginlib/class_list_macros.hpp"
namespace mg {
class MgStepperInterface : public hardware_interface::SystemInterface {
public:
CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override;
CallbackReturn on_configure(const rclcpp_lifecycle::State &) override;
CallbackReturn on_shutdown(const rclcpp_lifecycle::State &) override;
std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
public:
CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
CallbackReturn on_configure(const rclcpp_lifecycle::State&) override;
CallbackReturn on_shutdown(const rclcpp_lifecycle::State&) override;
std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override;
hardware_interface::return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
private:
std::string serial_port_name;
hardware_interface::return_type read(const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) override;
hardware_interface::return_type write(const rclcpp::Time& /*time*/,
const rclcpp::Duration& /*period*/) override;
private:
std::string serial_port_name;
LibSerial::SerialPort odrive_serial_interface;
double left_wheel_vel_cmd;
double left_wheel_pos_state;
double right_wheel_vel_cmd;
double right_wheel_pos_state;
double left_wheel_vel_cmd = 0;
double left_wheel_pos_state = 0;
double right_wheel_vel_cmd = 0;
double right_wheel_pos_state = 0;
};
}