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Also removes unnecessary print statement.
Removes: - get_motor_values - set_motor_values - ctx_mutex
Also make the size of motor_feedback/motor_commands dependent on actual amount of nodes (ctx instead of config).
Also adds debug statements.
Also adds debug statements.
Might need to remove in real system.
Function to transition ethercat state.
- Headers sorted - Move to transition_ec - Remove potentially unnecessary send/recvs - Add some blocks to make scope of variables clear - Update Shutdown logic
The script must be run from the workspace folder.
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ROS Node calls init_ec and checks return code before starting cylic loop.
Also add a cmd line argument for controlling increment count.
Also set the target position to the current position. This avoids sudden movement on startup.
Also make next and period properties.
Remove deprecated declarations.
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Context
This commit set implements the core functionality of the project namely:
This corresponds to the following features from
initial-testing:initial-testing#43The code has been shown to work with one motor. Further testing must incorporate multiple drivers.
Next Steps
There is no support for SDO calls. This needs to be implemented at a later time.
For testing purposes faults get automatically reset during startup and shutdown of the drives. More sophisticated handling of error condition should be implemented.
Offset detection should be enabled/handled.