added: radians cmd #17
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WalkthroughThis update introduces a new constant for monitoring delay, enhances angle handling by supporting both radians and degrees, and fine-tunes motor operations. It also revises setup procedures for essential components and modifies serial command processing for target settings, incorporating a delay mechanism within the main loop for improved monitoring. Changes
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Actionable comments generated: 2
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- src/main.cpp (6 hunks)
Additional comments: 6
src/main.cpp (6)
- 19-21: The introduction of a
MONITOR_DELAY_MSconstant and amonitor_delayvariable is a good practice for making the monitoring delay configurable. However, it's important to ensure that the initial value ofmonitor_delayis set appropriately in the setup to avoid any unintended delays before the first monitoring occurs.- 27-28: The implementation of
doDegreesfunction correctly converts degrees to radians before setting the target. This is a crucial step for maintaining consistency in how angles are processed internally. It's a good practice to encapsulate such conversions within the function to keep the rest of the codebase simple and focused on logic rather than unit conversions.- 93-95: Adjusting motor limits (
voltage_limit,velocity_limit, andcurrent_limit) is crucial for ensuring the motor operates within safe and efficient parameters. These settings should be carefully chosen based on the motor's specifications and the application's requirements. It's also important to document the rationale behind these values for future reference and adjustments.- 99-99: The use of
monitor_downsampleto control the frequency of monitoring outputs is a good practice for balancing the need for monitoring with the desire to minimize performance impacts. It's important to choose a value that provides sufficient visibility into the motor's operation without overly burdening the system.- 117-118: The addition of
doRadiansanddoDegreescommands to the commander is a significant enhancement, allowing users to set the target angle in their preferred unit of measurement. This improves the software's usability and flexibility. It's important to ensure that the help text ("target [rad]" and "target [deg]") clearly communicates the expected input format to the users.- 139-144: The implementation of monitoring delay logic in the loop is a good practice for controlling the frequency of potentially performance-impacting operations like monitoring. This approach allows for real-time monitoring without significantly slowing down the execution. It's important to ensure that this logic does not inadvertently introduce any timing issues or delays in critical operations.
| @@ -51,7 +55,8 @@ void setup() { | |||
| // initialize the driver | |||
| driver.voltage_power_supply = 24.0f; | |||
| rc = driver.init(); | |||
| checkRC(rc); SIMPLEFOC_DEBUG("Driver ready."); | |||
| checkRC(rc); | |||
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The call to checkRC(rc) after initializing the driver is a good practice for error handling. It ensures that any issues with the driver initialization are caught early. However, it would be beneficial to add comments explaining the expected range of return codes from driver.init() and what conditions might lead to a failure, for better maintainability and clarity for future developers.
Consider adding comments detailing the expected return codes from driver.init() and the conditions that might lead to initialization failure.
| @@ -60,7 +65,8 @@ | |||
| // initialize the current sensor | |||
| current_sensor.skip_align = true; | |||
| rc = current_sensor.init(); | |||
| checkRC(rc); SIMPLEFOC_DEBUG("Current sensor ready."); | |||
| checkRC(rc); | |||
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Similar to the previous comment on driver.init(), the use of checkRC(rc) after initializing the current sensor is a good error handling practice. Including comments about the expected return codes from current_sensor.init() would enhance code readability and maintainability.
It would be helpful to include comments explaining the expected return codes from current_sensor.init() and under what conditions initialization might fail.
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