brushed board firmware #2
Conversation
There was a problem hiding this comment.
@mn297 since we are not using torque control, maybe we should clean up that portion of the code prior to merging to main?
There was a problem hiding this comment.
It will be better to keep it for future-proofing
teensy40_brushed_v2/src/ros_tst.cpp
Outdated
There was a problem hiding this comment.
should probably remove this file no?
| @@ -0,0 +1,469 @@ | |||
| #include "common.h" | |||
| #if USE_ROS_FIRMWARE == 1 | |||
There was a problem hiding this comment.
| #if USE_ROS_FIRMWARE == 1 | |
| #ifdef USE_ROS_FIRMWARE |
There was a problem hiding this comment.
I would also move this preprocessor macro below the includes
| ros::NodeHandle nh; | ||
| float arm_brushed_setpoint_ps[3] = {0, 0, 0}; | ||
| float arm_brushed_angle_ps[3] = {0, 0, 0}; | ||
| void brushed_board_ros_loop(); |
There was a problem hiding this comment.
Lots of method definitions that should be added to a header for ease of reading.
| void brushed_board_homing(); | ||
| void brushed_board_ros_loop(); | ||
|
|
||
| void lim1ISR(); |
There was a problem hiding this comment.
Maybe add these functions declarations and definitions in common.h and a new common.cpp? This would separate between the helper functions and the loops.
| int cur1_voltage_buffer_idx = 0; | ||
| int cur2_voltage_buffer_idx = 0; | ||
| int cur3_voltage_buffer_idx = 0; | ||
|
|
There was a problem hiding this comment.
In general, if there are a handful of function definitions and variable definitions, it would be fine putting them at the top of a .cpp file. Since there a lot of them, for better readability it would help putting them in a separate file.
|
|
||
| void brushed_board_ros_loop() | ||
| { | ||
| #if DEBUG_PRINT == 1 |
There was a problem hiding this comment.
There are a few of these #if <SOME_MACRO> == 1. I would suggest
| #if DEBUG_PRINT == 1 | |
| #ifdef DEBUG_PRINT |
| float enc2_angle_ps = mot2.get_current_angle_ps(); | ||
| float enc2_setpoint = mot2.get_target_angle_ps(); | ||
|
|
||
| // float enc2_quad_enc_pos = mot2._encoder->_encoder->read(); |
| HWSERIAL.printf("enc2_quad_enc_pos: %8.4f, enc2_angle_single: %8.4f, enc2_angle_es: %8.4f, enc2_angle_ps: %8.4f, enc2_setpoint: %8.4f, ", | ||
| enc2_quad_enc_pos, enc2_angle_single, enc2_angle_es, enc2_angle_ps, enc2_setpoint); | ||
|
|
||
| // float enc1_rev = mot1._encoder->_encoder->getRevolution(); |
No description provided.