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VescDriver: support commanding motor duty cycle

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This commit is contained in:
Matthias Grob
2021-04-29 11:47:32 +02:00
parent 883661fc51
commit 0f5e3f788f
3 changed files with 10 additions and 1 deletions
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src/drivers/vesc/VescDriver/VescDriver.cpp
+8
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@@ -39,6 +39,14 @@
#include "VescDriver.hpp"
#include <memory.h>
void VescDriver::commandDutyCycle(float duty_cycle)
{
uint8_t command[5] {VescCommand::SET_DUTY};
uint16_t index{1};
insertInt32(command, index, static_cast<int32_t>(duty_cycle * 100000.f));
sendPacket(command, 5);
}
void VescDriver::commandCurrent(float current)
{
uint8_t command[5] {VescCommand::SET_CURRENT};