Merge pull request #3 from iq-motion-control/multiturn_feature_requests

Multiturn feature requests
iq-motion-control · Nov 6, 2020 · 4af461f · 4af461f
2 parents 3d2d976 + 418a56b
commit 4af461f
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diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,32 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
diff --git a/README.md b/README.md
@@ -1,4 +1,5 @@
-![Release Version](release_badge.svg)
+![tag](https://img.shields.io/github/v/tag/iq-motion-control/iq-module-communication-cpp)
+![release](https://img.shields.io/github/release/iq-motion-control/iq-module-communication-cpp/all.svg)
 
 # C++ API
 
@@ -7,7 +8,7 @@ This is the library to control a IQ Motion Control Module with C++
 ## Getting Started
 
 Add this library to your C++ project to interface with the motors.  
-Read the programming [documentation](http://iq-control.com/documentation) on our website to learn how to use this library.  
+Read the programming [documentation](http://iq-control.com/support) on our website to learn how to use this library.  
 Use our [release page](https://github.com/iq-motion-control/iq-module-communication-cpp/releases) to make sure you are using the latest version
 
 ### Prerequisites

diff --git a/inc/brushless_drive_client.hpp b/inc/brushless_drive_client.hpp
@@ -18,7 +18,7 @@
 */
 /*
   Name: brushless_drive_client.hpp
-  Last update: 3/7/2019 by Raphael Van Hoffelen
+  Last update: 2020/11/6 by Matthew Piccoli
   Author: Matthew Piccoli
   Contributors: Raphael Van Hoffelen
 */
@@ -64,9 +64,7 @@ class BrushlessDriveClient: public ClientAbstract{
       motor_redline_start_( kTypeBrushlessDrive, obj_idn, kSubMotorRedlineStart),
       motor_redline_end_(   kTypeBrushlessDrive, obj_idn, kSubMotorRedlineEnd),
       motor_l_(              kTypeBrushlessDrive, obj_idn, kSubMotorL),
-      derate_(              kTypeBrushlessDrive, obj_idn, kSubDerate),
-      i_soft_start(         kTypeBrushlessDrive, obj_idn, kSubISoftStart),
-      i_soft_end(           kTypeBrushlessDrive, obj_idn, kSubISoftEnd)      
+      derate_(              kTypeBrushlessDrive, obj_idn, kSubDerate)    
       {};
 
     // Client Entries
@@ -108,14 +106,12 @@ class BrushlessDriveClient: public ClientAbstract{
     ClientEntry<float>      motor_redline_end_;
     ClientEntry<float>      motor_l_;
     ClientEntry<int32_t>    derate_;
-    ClientEntry<float>      i_soft_start;
-    ClientEntry<float>      i_soft_end;
 
 
 
     void ReadMsg(uint8_t* rx_data, uint8_t rx_length)
     {
-      static const uint8_t kEntryLength = kSubISoftEnd+1;
+      static const uint8_t kEntryLength = kSubDerate+1;
       ClientEntryAbstract* entry_array[kEntryLength] = {
         &drive_mode_,           // 0
         &drive_phase_pwm_,      // 1
@@ -158,9 +154,7 @@ class BrushlessDriveClient: public ClientAbstract{
         &motor_redline_start_,  // 38
         &motor_redline_end_,    // 39
         &motor_l_,              // 40
-        &derate_,               // 41
-        &i_soft_start,          // 42
-        &i_soft_end             // 43
+        &derate_                // 41
       };
 
       ParseMsg(rx_data, rx_length, entry_array, kEntryLength);
@@ -198,8 +192,6 @@ class BrushlessDriveClient: public ClientAbstract{
     static const uint8_t kSubMotorRedlineEnd  = 39;
     static const uint8_t kSubMotorL           = 40;
     static const uint8_t kSubDerate           = 41;
-    static const uint8_t kSubISoftStart       = 42;
-    static const uint8_t kSubISoftEnd         = 43;
 };
 
 #endif /* BRUSHLESS_DRIVE_CLIENT_HPP_ */
diff --git a/inc/multi_turn_angle_control_client.hpp b/inc/multi_turn_angle_control_client.hpp
@@ -19,7 +19,7 @@
 
 /*
   Name: multi_turn_angle_control_client.hpp
-  Last update: 3/7/2019 by Raphael Van Hoffelen
+  Last update: 2020/11/6 by Matthew Piccoli
   Author: Matthew Piccoli
   Contributors: Raphael Van Hoffelen
 */
@@ -60,12 +60,14 @@ class MultiTurnAngleControlClient: public ClientAbstract{
       trajectory_duration_(             kTypeAngleMotorControl, obj_idn, kSubTrajectoryDuration),
       trajectory_linear_displacement_(  kTypeAngleMotorControl, obj_idn, kSubTrajectoryLinearDisplacement),
       trajectory_linear_velocity_(      kTypeAngleMotorControl, obj_idn, kSubTrajectoryLinearVelocity),
-      trajectory_linear_acceleration_(  kTypeAngleMotorControl, obj_idn, kSubTrajectoryLinearAcceleration)
+      trajectory_linear_acceleration_(  kTypeAngleMotorControl, obj_idn, kSubTrajectoryLinearAcceleration),
+      trajectory_average_speed_(        kTypeAngleMotorControl, obj_idn, kSubTrajectoryAverageSpeed),
+      trajectory_queue_mode_(           kTypeAngleMotorControl, obj_idn, kSubTrajectoryQueueMode)
       {};
 
     // Client Entries
     // Control commands
-    ClientEntry<uint8_t>    ctrl_mode_;
+    ClientEntry<int8_t>     ctrl_mode_;
     ClientEntryVoid         ctrl_brake_;
     ClientEntryVoid         ctrl_coast_;
     ClientEntry<float>      ctrl_pwm_;
@@ -97,10 +99,13 @@ class MultiTurnAngleControlClient: public ClientAbstract{
     ClientEntry<float>      trajectory_linear_displacement_;
     ClientEntry<float>      trajectory_linear_velocity_;
     ClientEntry<float>      trajectory_linear_acceleration_;
+    ClientEntry<float>      trajectory_average_speed_;
+    ClientEntry<int8_t>     trajectory_queue_mode_;
+
 
     void ReadMsg(uint8_t* rx_data, uint8_t rx_length)
     {
-      static const uint8_t kEntryLength = kSubTrajectoryLinearAcceleration+1;
+      static const uint8_t kEntryLength = kSubTrajectoryQueueMode+1;
       ClientEntryAbstract* entry_array[kEntryLength] = {
         &ctrl_mode_,                        // 0
         &ctrl_brake_,                       // 1
@@ -127,7 +132,9 @@ class MultiTurnAngleControlClient: public ClientAbstract{
         &trajectory_duration_,              // 22
         &trajectory_linear_displacement_,   // 23
         &trajectory_linear_velocity_,       // 24
-        &trajectory_linear_acceleration_    // 25
+        &trajectory_linear_acceleration_,   // 25
+        &trajectory_average_speed_,         // 26
+        &trajectory_queue_mode_             // 27
       };
 
       ParseMsg(rx_data, rx_length, entry_array, kEntryLength);
@@ -160,6 +167,8 @@ class MultiTurnAngleControlClient: public ClientAbstract{
     static const uint8_t kSubTrajectoryLinearDisplacement     = 23;
     static const uint8_t kSubTrajectoryLinearVelocity         = 24;
     static const uint8_t kSubTrajectoryLinearAcceleration     = 25;
+    static const uint8_t kSubTrajectoryAverageSpeed           = 26;
+    static const uint8_t kSubTrajectoryQueueMode              = 27;
 };
 
 

diff --git a/release_badge.svg b/release_badge.svg