RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Improved max vellocity

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This commit is contained in:
Pascal Serrarens 2024-07-02 11:31:36 +02:00
parent edf2df6c7e
commit 4223961fe7
1 changed files with 11 additions and 7 deletions
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18
ServoMotor.cpp
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@ -3,7 +3,7 @@
#include "LinearAlgebra/FloatSingle.h" #include "LinearAlgebra/FloatSingle.h"
ServoMotor::ServoMotor() ServoMotor::ServoMotor()
: Thing(0) { // for now, id should be set properly later : Thing(0) { // for now, id should be set properly later
this->type = Thing::ServoType; this->type = Thing::ServoType;
this->controlMode = ControlMode::Position; this->controlMode = ControlMode::Position;
this->targetAngle = 0; this->targetAngle = 0;
@ -18,7 +18,7 @@ void ServoMotor::SetTargetAngle(float angle) {
this->limitedTargetAngle = angle; this->limitedTargetAngle = angle;
} else if (angle != this->targetAngle) { } else if (angle != this->targetAngle) {
// if the new target is the same, the limited angle is not overwritten // if the new target is the same, the limited angle is not overwritten
this->limitedTargetAngle = this->targetAngle; // this->limitedTargetAngle = this->targetAngle;
} }
this->controlMode = ControlMode::Position; this->controlMode = ControlMode::Position;
@ -26,7 +26,9 @@ void ServoMotor::SetTargetAngle(float angle) {
this->hasTargetAngle = true; this->hasTargetAngle = true;
} }
float ServoMotor::GetTargetAngle() { return this->targetAngle; } float ServoMotor::GetTargetAngle() {
return this->targetAngle;
}
void ServoMotor::SetMaximumVelocity(float maxVelocity) { void ServoMotor::SetMaximumVelocity(float maxVelocity) {
this->maxVelocity = maxVelocity; this->maxVelocity = maxVelocity;
@ -38,16 +40,18 @@ void ServoMotor::SetTargetVelocity(float targetVelocity) {
this->controlMode = ControlMode::Velocity; this->controlMode = ControlMode::Velocity;
this->targetVelocity = targetVelocity; this->targetVelocity = targetVelocity;
this->hasTargetAngle = false; // can't we use the controlMode for this? this->hasTargetAngle = false; // can't we use the controlMode for this?
} }
float ServoMotor::GetTargetVelocity() { return this->targetVelocity; } float ServoMotor::GetTargetVelocity() {
return this->targetVelocity;
}
void ServoMotor::Update(unsigned long currentTimeMs) { void ServoMotor::Update(unsigned long currentTimeMs) {
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) { for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
Thing *child = this->GetChild(childIx); Thing* child = this->GetChild(childIx);
if (child != nullptr && child->type == Thing::ServoType) { if (child != nullptr && child->type == Thing::ServoType) {
ServoMotor *servo = (ServoMotor *)child; ServoMotor* servo = (ServoMotor*)child;
servo->Update(currentTimeMs); servo->Update(currentTimeMs);
} }
} }