Consolidating different APIs writing to the RUN_TIME register within a single API. Now everything is consistent.

The wise programmer is told about Tao and follows it. The average programmer is told about Tao and searches for it. The foolish programmer is told about Tao and laughs at it.

If it were not for laughter, there would be no Tao.

The highest sounds are hardest to hear. Going forward is a way to retreat. Great talent shows itself late in life. Even a perfect program still has bugs.

Author: aentinger

src/Braccio++.cpp

@@ -25,7 +25,6 @@ BraccioClass::BraccioClass()
 , _is_motor_connected{false}
 , _motors_connected_mtx{}
 , _motors_connected_thd{}
-, runTime{SLOW}
 , _customMenu{nullptr}
 {
 
@@ -163,6 +162,7 @@ bool BraccioClass::begin(voidFuncPtr customMenu)
   }
 
   servos.begin();
+  servos.setTime(SmartServoClass::BROADCAST, SLOW);
   servos.setPositionMode(PositionMode::IMMEDIATE);
 
   _motors_connected_thd.start(mbed::callback(this, &BraccioClass::motorConnectedThreadFunc));
@@ -202,12 +202,12 @@ Servo BraccioClass::get(int const id)
 void BraccioClass::moveTo(float const a1, float const a2, float const a3, float const a4, float const a5, float const a6)
 {
   servos.setPositionMode(PositionMode::SYNC);
-  servos.setPosition(1, a1, runTime);
-  servos.setPosition(2, a2, runTime);
-  servos.setPosition(3, a3, runTime);
-  servos.setPosition(4, a4, runTime);
-  servos.setPosition(5, a5, runTime);
-  servos.setPosition(6, a6, runTime);
+  servos.setPosition(1, a1);
+  servos.setPosition(2, a2);
+  servos.setPosition(3, a3);
+  servos.setPosition(4, a4);
+  servos.setPosition(5, a5);
+  servos.setPosition(6, a6);
   servos.synchronize();
   servos.setPositionMode(PositionMode::IMMEDIATE);
 }

src/Braccio++.h

@@ -114,8 +114,6 @@ class BraccioClass
   void setMotorConnectionStatus(int const id, bool const is_connected);
   void motorConnectedThreadFunc();
 
-  speed_grade_t runTime; //ms
-
   voidFuncPtr _customMenu;
 
   const int BTN_LEFT = 3;
@@ -177,7 +175,7 @@ class Servo
   inline bool engaged()   { return _servos.isEngaged(_id); }
 
   inline Servo & move()                                    { return *this; }
-  inline Servo & to  (float const angle)                   { _servos.setPosition(_id, angle, _speed); return *this; }
+  inline Servo & to  (float const angle)                   { _servos.setPosition(_id, angle); return *this; }
   inline Servo & in  (std::chrono::milliseconds const len) { _servos.setTime(_id, len.count()); return *this; }
 
   inline float position()            { return _servos.getPosition(_id); }
@@ -191,8 +189,6 @@ class Servo
 
   SmartServoClass & _servos;
   int const _id;
-  int const _speed = 100;
-
 };
 
 struct __callback__container__ {

src/lib/motors/SmartServo.cpp

@@ -175,7 +175,7 @@ void SmartServoClass::begin()
   _positionMode = PositionMode::IMMEDIATE;
 }
 
-void SmartServoClass::setPosition(uint8_t const id, float const angle, uint16_t const speed)
+void SmartServoClass::setPosition(uint8_t const id, float const angle)
 {
   if (!isValidAngle(angle))
     return;
@@ -184,7 +184,6 @@ void SmartServoClass::setPosition(uint8_t const id, float const angle, uint16_t
   if (isValidId(id))
   {
     _targetPosition[idToArrayIndex(id)] = angleToPosition(angle);
-    _targetSpeed[idToArrayIndex(id)] = speed;
     if (_positionMode==PositionMode::IMMEDIATE) {
       writeWordCmd(id, REG(SmartServoRegister::TARGET_POSITION_H), angleToPosition(angle));
     }
@@ -212,15 +211,13 @@ void SmartServoClass::synchronize()
   _txPacket.length = MAX_TX_PAYLOAD_LEN;
   _txPacket.instruction = CMD(SmartServoOperation::SYNC_WRITE);
   _txPacket.payload[0] = REG(SmartServoRegister::TARGET_POSITION_H);
-  _txPacket.payload[1] = 4;
+  _txPacket.payload[1] = 2;
   int index = 2;
 
   for (int i = MIN_MOTOR_ID; i <= MAX_MOTOR_ID; i++) {
     _txPacket.payload[index++] = i;
     _txPacket.payload[index++] = _targetPosition[idToArrayIndex(i)] >>8;
     _txPacket.payload[index++] = _targetPosition[idToArrayIndex(i)];
-    _txPacket.payload[index++] = _targetSpeed[idToArrayIndex(i)]>>8;
-    _txPacket.payload[index++] = _targetSpeed[idToArrayIndex(i)];
   }
   sendPacket();
 }

src/lib/motors/SmartServo.h

@@ -26,7 +26,7 @@ class SmartServoClass
 
   inline void setPositionMode(PositionMode const mode) { _positionMode = mode; }
 
-  void setPosition(uint8_t const id, float const angle, uint16_t const speed);
+  void setPosition(uint8_t const id, float const angle);
 
   float getPosition(uint8_t const id);
 
@@ -120,7 +120,6 @@ class SmartServoClass
   uint8_t _rxBuf[MAX_RX_PAYLOAD_LEN];
   uint8_t _rxLen;
   uint16_t _targetPosition[NUM_MOTORS];
-  uint16_t _targetSpeed[NUM_MOTORS];
   PositionMode _positionMode;
 };