add board_state, add limit_max

pollen-robotics · Mar 7, 2024 · 02a9b9f · 02a9b9f
1 parent ebd14a2
commit 02a9b9f
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/src/device/orbita2d_poulpe.rs b/src/device/orbita2d_poulpe.rs
@@ -25,7 +25,9 @@ reg_read_only!(firmware_version, 6, u8);
 reg_read_write!(id, 7, u8);
 
 reg_read_write!(velocity_limit, 10, MotorValue::<f32>);
+reg_read_write!(velocity_limit_max, 12, MotorValue::<f32>);
 reg_read_write!(torque_flux_limit, 14, MotorValue::<f32>);
+reg_read_write!(torque_flux_limit_max, 16, MotorValue::<f32>);
 reg_read_write!(uq_ud_limit, 18, MotorValue::<i16>);
 
 reg_read_write!(flux_pid, 20, MotorValue::<Pid>);
@@ -46,6 +48,8 @@ reg_read_write_fb!(
     MotorPositionSpeedLoad
 );
 
+reg_read_write!(board_state, 80, u8);
+
 reg_read_only!(axis_sensor, 90, MotorValue::<f32>);
 
 reg_read_only!(full_state, 100, MotorPositionSpeedLoad);

diff --git a/src/device/orbita3d_poulpe.rs b/src/device/orbita3d_poulpe.rs
@@ -37,7 +37,9 @@ reg_read_only!(firmware_version, 6, u8);
 reg_read_write!(id, 7, u8);
 
 reg_read_write!(velocity_limit, 10, MotorValue::<f32>);
+reg_read_write!(velocity_limit_max, 12, MotorValue::<f32>);
 reg_read_write!(torque_flux_limit, 14, MotorValue::<f32>);
+reg_read_write!(torque_flux_limit_max, 16, MotorValue::<f32>);
 reg_read_write!(uq_ud_limit, 18, MotorValue::<f32>);
 
 reg_read_write!(flux_pid, 20, MotorValue::<Pid>);
@@ -57,7 +59,7 @@ reg_read_write_fb!(
     MotorValue::<f32>,
     MotorPositionSpeedLoad
 );
-
+reg_read_write!(board_state, 80, u8);
 reg_read_only!(axis_sensor, 90, MotorValue::<f32>);
 reg_read_only!(index_sensor, 99, MotorValue::<u8>);
 reg_read_only!(full_state, 100, MotorPositionSpeedLoad);