Merge pull request #13 from tinymovr/2_0_x

Tinymovr version 2.0.x
tinymovr · Apr 22, 2024 · 4b4ef1b · 4b4ef1b
2 parents 1d53af8 + 5eaacff
commit 4b4ef1b
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Showing 39 changed files with 923 additions and 216 deletions.
diff --git a/examples/arduino_mkr_wifi_1010/arduino_mkr_wifi_1010.ino b/examples/arduino_mkr_wifi_1010/arduino_mkr_wifi_1010.ino
@@ -159,14 +159,14 @@ void loop()
     else if (receivedChar == '<')
     {
       Serial.println("Received L turn command");
-      float pos_estimate = tinymovr.encoder.get_position_estimate();
+      float pos_estimate = tinymovr.sensors.user_frame.get_position_estimate();
       Serial.println(pos_estimate);
       tinymovr.controller.position.set_setpoint(pos_estimate - 8192.0f);
     }
     else if (receivedChar == '>')
     {
       Serial.println("Received R turn command");
-      float pos_estimate = tinymovr.encoder.get_position_estimate();
+      float pos_estimate = tinymovr.sensors.user_frame.get_position_estimate();
       Serial.println(pos_estimate);
       tinymovr.controller.position.set_setpoint(pos_estimate + 8192.0f);
     }
@@ -183,9 +183,9 @@ void loop()
       Serial.print(tinymovr.controller.get_mode());
       Serial.print("\n");
       Serial.print("Position estimate: ");
-      Serial.print(tinymovr.encoder.get_position_estimate());
+      Serial.print(tinymovr.sensors.user_frame.get_position_estimate());
       Serial.print(", Velocity estimate: ");
-      Serial.print(tinymovr.encoder.get_velocity_estimate());
+      Serial.print(tinymovr.sensors.user_frame.get_velocity_estimate());
       Serial.print("\n");
       Serial.print("Iq estimate: ");
       Serial.print(tinymovr.controller.current.get_Iq_estimate());

diff --git a/examples/esp32_mcp2551/esp32_mcp2551.ino b/examples/esp32_mcp2551/esp32_mcp2551.ino
@@ -159,14 +159,14 @@ void loop()
     else if (receivedChar == '<')
     {
       Serial.println("Received L turn command");
-      float pos_estimate = tinymovr.encoder.get_position_estimate();
+      float pos_estimate = tinymovr.sensors.user_frame.get_position_estimate();
       Serial.println(pos_estimate);
       tinymovr.controller.position.set_setpoint(pos_estimate - 8192.0f);
     }
     else if (receivedChar == '>')
     {
       Serial.println("Received R turn command");
-      float pos_estimate = tinymovr.encoder.get_position_estimate();
+      float pos_estimate = tinymovr.sensors.user_frame.get_position_estimate();
       Serial.println(pos_estimate);
       tinymovr.controller.position.set_setpoint(pos_estimate + 8192.0f);
     }
@@ -183,9 +183,9 @@ void loop()
       Serial.print(tinymovr.controller.get_mode());
       Serial.print("\n");
       Serial.print("Position estimate: ");
-      Serial.print(tinymovr.encoder.get_position_estimate());
+      Serial.print(tinymovr.sensors.user_frame.get_position_estimate());
       Serial.print(", Velocity estimate: ");
-      Serial.print(tinymovr.encoder.get_velocity_estimate());
+      Serial.print(tinymovr.sensors.user_frame.get_velocity_estimate());
       Serial.print("\n");
       Serial.print("Iq estimate: ");
       Serial.print(tinymovr.controller.current.get_Iq_estimate());

diff --git a/readme.md b/readme.md
@@ -22,8 +22,8 @@ The library is hardware-agnostic so you can use any CAN 2.0-capable adapter. The
 
 The library is object oriented and the main Tinymovr object is what you use to establish communication with the board. Endpoints that are read only implement  `get_{endpoint_name}` style getters. Endpoints that are writeable implement both `get_{endpoint_name}` and `set_{endpoint_name}`. 
 
-    float pos_estimate = tinymovr.encoder.get_position_estimate();
-    float vel_estimate = tinymovr.encoder.get_velocity_estimate();
+    float pos_estimate = tinymovr.sensors.user_frame.get_position_estimate();
+    float vel_estimate = tinymovr.sensors.user_frame.get_velocity_estimate();
     tinymovr.controller.position.set_setpoint(10000);
 
 Functions are called with their name and required parameters.

diff --git a/src/can.cpp b/src/can.cpp
@@ -11,8 +11,8 @@
 uint32_t Can_::get_rate(void)
 {
     uint32_t value = 0;
-    this->send(42, this->_data, 0, true);
-    if (this->recv(42, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(45, this->_data, 0, true);
+    if (this->recv(45, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ uint32_t Can_::get_rate(void)
 void Can_::set_rate(uint32_t value)
 {
     write_le(value, this->_data);
-    this->send(42, this->_data, sizeof(uint32_t), false);
+    this->send(45, this->_data, sizeof(uint32_t), false);
 }
 
 uint32_t Can_::get_id(void)
 {
     uint32_t value = 0;
-    this->send(43, this->_data, 0, true);
-    if (this->recv(43, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(46, this->_data, 0, true);
+    if (this->recv(46, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,7 +39,24 @@ uint32_t Can_::get_id(void)
 void Can_::set_id(uint32_t value)
 {
     write_le(value, this->_data);
-    this->send(43, this->_data, sizeof(uint32_t), false);
+    this->send(46, this->_data, sizeof(uint32_t), false);
+}
+
+bool Can_::get_heartbeat(void)
+{
+    bool value = 0;
+    this->send(47, this->_data, 0, true);
+    if (this->recv(47, this->_data, &(this->_dlc), this->delay_us_value)) 
+    {
+        read_le(&value, this->_data);
+    }
+    return value;
+}
+
+void Can_::set_heartbeat(bool value)
+{
+    write_le(value, this->_data);
+    this->send(47, this->_data, sizeof(bool), false);
 }
 
 

diff --git a/src/can.hpp b/src/can.hpp
@@ -20,5 +20,7 @@ class Can_ : Node
         void set_rate(uint32_t value);
         uint32_t get_id(void);
         void set_id(uint32_t value);
+        bool get_heartbeat(void);
+        void set_heartbeat(bool value);
 
 };
diff --git a/src/commutation_sensor.cpp b/src/commutation_sensor.cpp
@@ -0,0 +1,79 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#include <commutation_sensor.hpp>
+
+uint8_t Commutation_sensor_::get_connection(void)
+{
+    uint8_t value = 0;
+    this->send(72, this->_data, 0, true);
+    if (this->recv(72, this->_data, &(this->_dlc), this->delay_us_value)) 
+    {
+        read_le(&value, this->_data);
+    }
+    return value;
+}
+
+void Commutation_sensor_::set_connection(uint8_t value)
+{
+    write_le(value, this->_data);
+    this->send(72, this->_data, sizeof(uint8_t), false);
+}
+
+float Commutation_sensor_::get_bandwidth(void)
+{
+    float value = 0;
+    this->send(73, this->_data, 0, true);
+    if (this->recv(73, this->_data, &(this->_dlc), this->delay_us_value)) 
+    {
+        read_le(&value, this->_data);
+    }
+    return value;
+}
+
+void Commutation_sensor_::set_bandwidth(float value)
+{
+    write_le(value, this->_data);
+    this->send(73, this->_data, sizeof(float), false);
+}
+
+int32_t Commutation_sensor_::get_raw_angle(void)
+{
+    int32_t value = 0;
+    this->send(74, this->_data, 0, true);
+    if (this->recv(74, this->_data, &(this->_dlc), this->delay_us_value)) 
+    {
+        read_le(&value, this->_data);
+    }
+    return value;
+}
+
+float Commutation_sensor_::get_position_estimate(void)
+{
+    float value = 0;
+    this->send(75, this->_data, 0, true);
+    if (this->recv(75, this->_data, &(this->_dlc), this->delay_us_value)) 
+    {
+        read_le(&value, this->_data);
+    }
+    return value;
+}
+
+float Commutation_sensor_::get_velocity_estimate(void)
+{
+    float value = 0;
+    this->send(76, this->_data, 0, true);
+    if (this->recv(76, this->_data, &(this->_dlc), this->delay_us_value)) 
+    {
+        read_le(&value, this->_data);
+    }
+    return value;
+}
+
+
+
diff --git a/src/commutation_sensor.hpp b/src/commutation_sensor.hpp
@@ -0,0 +1,27 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+
+class Commutation_sensor_ : Node
+{
+    public:
+
+        Commutation_sensor_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        uint8_t get_connection(void);
+        void set_connection(uint8_t value);
+        float get_bandwidth(void);
+        void set_bandwidth(float value);
+        int32_t get_raw_angle(void);
+        float get_position_estimate(void);
+        float get_velocity_estimate(void);
+
+};
diff --git a/src/controller.cpp b/src/controller.cpp
@@ -11,8 +11,8 @@
 uint8_t Controller_::get_state(void)
 {
     uint8_t value = 0;
-    this->send(15, this->_data, 0, true);
-    if (this->recv(15, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(18, this->_data, 0, true);
+    if (this->recv(18, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ uint8_t Controller_::get_state(void)
 void Controller_::set_state(uint8_t value)
 {
     write_le(value, this->_data);
-    this->send(15, this->_data, sizeof(uint8_t), false);
+    this->send(18, this->_data, sizeof(uint8_t), false);
 }
 
 uint8_t Controller_::get_mode(void)
 {
     uint8_t value = 0;
-    this->send(16, this->_data, 0, true);
-    if (this->recv(16, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(19, this->_data, 0, true);
+    if (this->recv(19, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,14 +39,14 @@ uint8_t Controller_::get_mode(void)
 void Controller_::set_mode(uint8_t value)
 {
     write_le(value, this->_data);
-    this->send(16, this->_data, sizeof(uint8_t), false);
+    this->send(19, this->_data, sizeof(uint8_t), false);
 }
 
 uint8_t Controller_::get_warnings(void)
 {
     uint8_t value = 0;
-    this->send(17, this->_data, 0, true);
-    if (this->recv(17, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(20, this->_data, 0, true);
+    if (this->recv(20, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -56,8 +56,8 @@ uint8_t Controller_::get_warnings(void)
 uint8_t Controller_::get_errors(void)
 {
     uint8_t value = 0;
-    this->send(18, this->_data, 0, true);
-    if (this->recv(18, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(21, this->_data, 0, true);
+    if (this->recv(21, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -67,27 +67,27 @@ uint8_t Controller_::get_errors(void)
 
 void Controller_::calibrate()
 {
-    this->send(36, this->_data, 0, true);
+    this->send(39, this->_data, 0, true);
 }
 
 void Controller_::idle()
 {
-    this->send(37, this->_data, 0, true);
+    this->send(40, this->_data, 0, true);
 }
 
 void Controller_::position_mode()
 {
-    this->send(38, this->_data, 0, true);
+    this->send(41, this->_data, 0, true);
 }
 
 void Controller_::velocity_mode()
 {
-    this->send(39, this->_data, 0, true);
+    this->send(42, this->_data, 0, true);
 }
 
 void Controller_::current_mode()
 {
-    this->send(40, this->_data, 0, true);
+    this->send(43, this->_data, 0, true);
 }
 
 float Controller_::set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint)
@@ -98,7 +98,7 @@ float Controller_::set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint)
     write_le(vel_setpoint, this->_data + data_len);
     data_len += sizeof(vel_setpoint);
 
-    this->send(41, this->_data, data_len, false);
+    this->send(44, this->_data, data_len, false);
     float value = 0;
     this->send(17, this->_data, 0, true);
     if (this->recv(17, this->_data, &(this->_dlc), this->delay_us_value))