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rdu
2021-07-06 18:56:31 +08:00
parent 3a642cca65
commit f0f5b88987
2 changed files with 13 additions and 12 deletions
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4
include/ugv_sdk/agilex_base.hpp
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@@ -39,9 +39,7 @@ class AgilexBase {
virtual void Connect(std::string dev_name) = 0;
// cmd thread runs at 50Hz (20ms) by default
void SetCmdThreadPeriodMs(int32_t period_ms) {
cmd_thread_period_ms_ = period_ms;
};
void SetCmdThreadPeriodMs(int32_t period_ms);
// timeout: robot stops if user does not call SetMotionCommand() periodically
void EnableCmdTimeout(uint32_t timeout_ms = 100);

21
src/agilex_base.cpp
View File

@@ -37,6 +37,10 @@ void AgilexBase::Terminate() {
std::terminate();
}
void AgilexBase::SetCmdThreadPeriodMs(int32_t period_ms) {
cmd_thread_period_ms_ = period_ms;
};
void AgilexBase::EnableCmdTimeout(uint32_t timeout_ms) {
enable_timeout_ = true;
timeout_ms_ = timeout_ms;
@@ -153,15 +157,14 @@ void AgilexBase::DisableLightControl() {
can_->SendFrame(frame);
}
void AgilexBase::SetMotionMode(uint8_t mode)
{
AgxMessage msg;
msg.type = AgxMsgSetMotionMode;
msg.body.motion_mode_msg.motion_mode = mode;
void AgilexBase::SetMotionMode(uint8_t mode) {
AgxMessage msg;
msg.type = AgxMsgSetMotionMode;
msg.body.motion_mode_msg.motion_mode = mode;
// send to can bus
can_frame frame;
EncodeCanFrame(&msg, &frame);
can_->SendFrame(frame);
// send to can bus
can_frame frame;
EncodeCanFrame(&msg, &frame);
can_->SendFrame(frame);
}
} // namespace westonrobot