add option to register callbacks for torque estimates messages #6
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samuelsadok
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Jan 6, 2025
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samuelsadok
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samuelsadok
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small oversight error, otherwise looks good
src/ODriveCAN.h
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| */ | ||
| void onTorques(void (*callback)(Get_Torques_msg_t& feedback, void* user_data), void* user_data = nullptr) { | ||
| torques_callback_ = callback; | ||
| feedback_user_data_ = user_data; |
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This should be a new variable torques_user_data_.
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Added torques_user_data_ as a private variable and addressed the change accordingly in the onTorques function.
src/ODriveCAN.cpp
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| Get_Torques_msg_t estimates; | ||
| estimates.decode_buf(data); | ||
| if (torques_callback_) | ||
| torques_callback_(estimates, feedback_user_data_); |
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Addressed this on latest update.
…ntorques callback
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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.