Revision 98e7c69b components/MotorControl.cpp
components/MotorControl.cpp | ||
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} |
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void MotorControl::setGains(motorGains *motorConfig){ |
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chSysLock(); |
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this->pGain = motorConfig->pGain; |
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this->iGain = motorConfig->iGain; |
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this->dGain = motorConfig->dGain; |
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chSysUnlock(); |
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} |
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void MotorControl::getGains(motorGains *motorConfig){ |
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motorGains gains; |
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motorConfig->pGain = this->pGain; |
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motorConfig->iGain = this->iGain; |
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motorConfig->dGain = this->dGain; |
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} |
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void MotorControl::setMotorEnable(bool enable){ |
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this->accumulatedErrorV = 0; |
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this->accumulatedErrorW = 0; |
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this->motorEnable = enable; |
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} |
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bool MotorControl::getMotorEnable(){ |
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return this->motorEnable; |
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} |
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void MotorControl::toggleMotorEnable(){ |
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this->accumulatedErrorV = 0; |
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this->accumulatedErrorW = 0; |
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this->motorEnable = !this->motorEnable; |
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} |
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