Add function to index into cogmap (#716)

odriverobotics · Sep 22, 2022 · 3056a4c · 3056a4c
1 parent 073da34
commit 3056a4c
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diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp
@@ -82,6 +82,10 @@ class Controller : public ODriveIntf::ControllerIntf {
     // TODO: make this more similar to other calibration loops
     void start_anticogging_calibration();
     bool anticogging_calibration(float pos_estimate, float vel_estimate);
+
+    float get_anticogging_value(uint32_t index) {
+        return (index < 3600) ? config_.anticogging.cogging_map[index] : 0.0f;
+    }
 
     void update_filter_gains();
     bool update();

diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
@@ -1188,6 +1188,7 @@ interfaces:
             usually corresponds roughly to the current position of the axis.'
           }
       start_anticogging_calibration:
+      get_anticogging_value: {in: {index: uint32}, out: {val: float32}}
 
 
   ODrive.Encoder: