mirrors/ugv_sdk
1
0
Fork 0
mirror of https://github.com/westonrobot/ugv_sdk synced 2023-04-08 06:32:14 +08:00
Code Issues Packages Projects Releases Wiki Activity

moved state update function to agilex base class

Browse Source
This commit is contained in:
Ruixiang Du
2021-07-14 10:53:24 +08:00
parent 257787eb1b
commit 0d99c56f95
12 changed files with 176 additions and 166 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
demo/scout_demo/scout_robot_demo.cpp
View File

@@ -94,13 +94,15 @@ int main(int argc, char **argv) {
<< state.motion_state.linear_velocity << ", "
<< state.motion_state.angular_velocity << std::endl;
auto actuator = scout->GetActuatorState();
if (scout->GetProtocolVersion() == ProtocolVersion::AGX_V1) {
for (int i = 0; i < 4; ++i) {
printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n",
state.actuator_state[i].motor_id,
state.actuator_state[i].current, state.actuator_state[i].rpm,
state.actuator_state[i].driver_temp,
state.actuator_state[i].motor_temp);
actuator.actuator_state[i].motor_id,
actuator.actuator_state[i].current,
actuator.actuator_state[i].rpm,
actuator.actuator_state[i].driver_temp,
actuator.actuator_state[i].motor_temp);
}
} else {
}