mirror of
https://github.com/modelec/ros2_roboclaw_driver.git
synced 2026-01-18 16:47:26 +01:00
34 lines
950 B
C++
34 lines
950 B
C++
#pragma once
|
|
|
|
#include "roboclaw_cmd.h"
|
|
|
|
class CmdReadEncoderSpeed : public Cmd {
|
|
public:
|
|
CmdReadEncoderSpeed(RoboClaw &roboclaw, RoboClaw::kMotor motor,
|
|
int32_t &speed)
|
|
: Cmd(roboclaw, "ReadEncoderSpeed", motor), speed_(speed) {}
|
|
void send() override {
|
|
try {
|
|
roboclaw_.appendToWriteLog("ReadEncoderSpeed: motor: %d (%s), WROTE: ",
|
|
motor_, motor_ == RoboClaw::kM1 ? "M1" : "M2");
|
|
speed_ = roboclaw_.getVelocityResult(
|
|
motor_ == RoboClaw::kM1 ? kGETM1SPEED : kGETM2SPEED);
|
|
roboclaw_.appendToReadLog(", RESULT: %d", speed_);
|
|
return;
|
|
} catch (...) {
|
|
RCUTILS_LOG_ERROR(
|
|
"[RoboClaw::CmdReadEncoderSpeed] Uncaught exception "
|
|
"!!!");
|
|
}
|
|
}
|
|
|
|
private:
|
|
// Referencing which velocity in the RoboClaw
|
|
typedef enum WHICH_VELOCITY {
|
|
kGETM1SPEED = 18,
|
|
kGETM2SPEED = 19,
|
|
} WHICH_VELOCITY;
|
|
|
|
int32_t &speed_;
|
|
};
|