Magnezijum-Robotics/magrob
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Changed the way we communicate with the stepper driver

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Pimpest
2025-02-28 20:48:58 +01:00
parent 630852bc6d
commit b1492b4c5d
1 changed files with 10 additions and 6 deletions
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16
mg_control/src/mg_control.cpp
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@ -66,14 +66,18 @@ hardware_interface::return_type mg::MgStepperInterface::read(const rclcpp::Time&
}
hardware_interface::return_type mg::MgStepperInterface::write(const rclcpp::Time&, const rclcpp::Duration&) {
std::string cmd_left;
std::string cmd_right;
cmd_left = std::to_string(left_wheel_vel_cmd / (2 * M_PI)) + " ";
cmd_right = std::to_string(-right_wheel_vel_cmd / (2 * M_PI));
union {
std::array<u_char, sizeof(double)> bytes;
double data;
} value{};
try {
odrive_serial_interface.Write(cmd_left + cmd_right);
odrive_serial_interface.Write("s;");
value.data = left_wheel_vel_cmd / (2 * M_PI);
for (const auto& bt : value.bytes) { odrive_serial_interface.WriteByte(bt); }
value.data = -right_wheel_vel_cmd / (2 * M_PI);
for (const auto& bt : value.bytes) { odrive_serial_interface.WriteByte(bt); }
} catch (const std::runtime_error& e) { return hardware_interface::return_type::ERROR; }
return hardware_interface::return_type::OK;
}