Simple addition to controll multi-axis odrives such as 3.6 #10
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Note that ODrive v3.6 is a legacy product, which is why it's not actively supported in this library. Therefore I am also hesitant with a change like this. It needs to not affect maintainability / support load and not look like ODrive v3.6 is officially supported (because we don't have the resources for that). I need to think about those points. Meanwhile some comments.
Btw, if we would officially support a multi-axis ODrive with this library, it's likely that we'd want a slightly different usage approach: I'm thinking of one high-level device object that provides device-level functionality and one or more child "axis" objects that provide axis level functionality.
| @@ -18,6 +18,9 @@ class ODriveUART { | |||
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| ODriveUART(Stream& serial); | |||
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| void selectAxis(int axis); | |||
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this would have to be documented, especially that it can be ignored for all current-generation ODrives
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See above, could be mitigated with the overload
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Hi, I am currently using the UART implementation of the library with an ODrive 3.6 and needed the possibility to change the controlled axis.
To change as little as possible I added a command to set and get the
kMotorNumbervariable.Set and Get state also now check this variable.
This can for sure be done in a more elegant way but I needed a quick solution.