add option to register callbacks for torque estimates messages #6
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
samuelsadok
reviewed
Jan 6, 2025
src/ODriveCAN.h
Outdated
| */ | ||
| void onTorques(void (*callback)(Get_Torques_msg_t& feedback, void* user_data), void* user_data = nullptr) { | ||
| torques_callback_ = callback; | ||
| feedback_user_data_ = user_data; |
There was a problem hiding this comment.
This should be a new variable torques_user_data_.
There was a problem hiding this comment.
Added torques_user_data_ as a private variable and addressed the change accordingly in the onTorques function.
src/ODriveCAN.cpp
Outdated
| Get_Torques_msg_t estimates; | ||
| estimates.decode_buf(data); | ||
| if (torques_callback_) | ||
| torques_callback_(estimates, feedback_user_data_); |
There was a problem hiding this comment.
Addressed this on latest update.
…ntorques callback
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Added option to register a callback for an incoming message of type Get_Torques_msg_t . This enables registering a callback to process incoming torque messages. I do not have the hardware to test this right now, but I have tested it previously and got good results.