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Change 300ms time delay to a while loop #341

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Change 300ms time delay to a while loop #341

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1bfee77
Change 300ms time delay to a while loop
abnv-goyal Nov 5, 2024
1233805
Fix formatting issue
abnv-goyal Nov 5, 2024
2a1ba7c
Fix formatting issues in TunePID
abnv-goyal Nov 5, 2024
2823947
Make TunePID throw an error if starting angle is not found
abnv-goyal Nov 9, 2024
1e31620
Change datatype of timeout from int to milliseconds
abnv-goyal Nov 9, 2024
69dce12
Make code exit if starting angle not found
abnv-goyal Nov 16, 2024
08fda94
Make log message Error instead of Warning if TunePID can't find start…
abnv-goyal Nov 19, 2024
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23 changes: 18 additions & 5 deletions src/TunePID.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,10 @@ extern "C" {
#include "HindsightCAN/CANCommon.h"
}

enum class targetmode_t {
step, sinusoidal
enum class targetmode_t
{
step,
sinusoidal
};

using namespace robot::types;
Expand Down Expand Up @@ -137,8 +139,19 @@ int main(int argc, char** argv) {

double period = 8.0;

std::this_thread::sleep_for(300ms); // wait for encoder position data to arrive
int32_t starting_angle = can::motor::getMotorPosition(serial);
time_point<steady_clock> start = steady_clock::now();
constexpr milliseconds timeout = 300ms;
DataPoint<int32_t> starting_angle_data_point = can::motor::getMotorPosition(serial);
while (!starting_angle_data_point.isValid() && steady_clock::now() - start < timeout) {
starting_angle_data_point = can::motor::getMotorPosition(serial);
}

if (!starting_angle_data_point.isValid()) {
LOG_F(ERROR, "STARTING ANGLE DATA NOT FOUND");
exit(1);
}
int32_t starting_angle = starting_angle_data_point.getData();

int32_t angle_target = starting_angle;
double acc_error = 0.0;
int total_steps = 0;
Expand All @@ -159,7 +172,7 @@ int main(int argc, char** argv) {
if (mode == targetmode_t::step) {
prescaled_target = round(prescaled_target);
}
angle_target = (int32_t) round(amplitude * prescaled_target) + starting_angle;
angle_target = (int32_t)round(amplitude * prescaled_target) + starting_angle;

can::motor::setMotorPIDTarget(serial, angle_target);

Expand Down