*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
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+
+#ifndef ODriveArduino_h
+#define ODriveArduino_h
+
+#include "Arduino.h"
+#include "ODriveEnums.h"
+
+class ODriveArduino {
+public:
+    ODriveArduino(Stream& serial);
+
+    // Commands
+    void SetPosition(int motor_number, float position);
+    void SetPosition(int motor_number, float position, float velocity_feedforward);
+    void SetPosition(int motor_number, float position, float velocity_feedforward, float current_feedforward);
+    void SetVelocity(int motor_number, float velocity);
+    void SetVelocity(int motor_number, float velocity, float current_feedforward);
+    void SetCurrent(int motor_number, float current);
+    void TrapezoidalMove(int motor_number, float position);
+    // Getters
+    float GetVelocity(int motor_number);
+    float GetPosition(int motor_number);
+    // General params
+    float readFloat();
+    int32_t readInt();
+
+    // State helper
+    bool run_state(int axis, int requested_state, bool wait_for_idle, float timeout = 10.0f);
+private:
+    String readString();
+
+    Stream& serial_;
+};
+
+#endif //ODriveArduino_h