Magnezijum-Robotics/magrob
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Changed the way we communicate with the stepper driver #6

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Pimpest merged 1 commits from fix-cm-crash into main 2025-02-28 20:39:55 +00:00
Conversation 0 Commits 1 Files Changed 1 +10 -6
1 changed files with 10 additions and 6 deletions
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Showing only changes of commit b1492b4c5d - Show all commits

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&) { hardware_interface::return_type mg::MgStepperInterface::write(const rclcpp::Time&, const rclcpp::Duration&) {
std::string cmd_left; union {
std::string cmd_right; std::array<u_char, sizeof(double)> bytes;
double data;
cmd_left = std::to_string(left_wheel_vel_cmd / (2 * M_PI)) + " "; } value{};
cmd_right = std::to_string(-right_wheel_vel_cmd / (2 * M_PI));
try { 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; } } catch (const std::runtime_error& e) { return hardware_interface::return_type::ERROR; }
return hardware_interface::return_type::OK; return hardware_interface::return_type::OK;
} }