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zero on init #33

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merged 1 commit into from
Oct 18, 2024
Merged

zero on init #33

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13 changes: 10 additions & 3 deletions actuator/rust/bindings/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -193,12 +193,13 @@ struct PyRobstrideMotorsSupervisor {
#[pymethods]
impl PyRobstrideMotorsSupervisor {
#[new]
#[pyo3(signature = (port_name, motor_infos, verbose = false, target_update_rate = 50.0))]
#[pyo3(signature = (port_name, motor_infos, verbose = false, target_update_rate = 50.0, zero_on_init = false))]
fn new(
port_name: String,
motor_infos: HashMap<u8, String>,
verbose: bool,
target_update_rate: f64,
zero_on_init: bool,
) -> PyResult<Self> {
let motor_infos = motor_infos
.into_iter()
Expand All @@ -209,8 +210,14 @@ impl PyRobstrideMotorsSupervisor {
.collect::<PyResult<HashMap<u8, RobstrideMotorType>>>()?;

let controller =
RobstrideMotorsSupervisor::new(&port_name, &motor_infos, verbose, target_update_rate)
.map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))?;
RobstrideMotorsSupervisor::new(
&port_name,
&motor_infos,
verbose,
target_update_rate,
zero_on_init,
)
.map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))?;

Ok(PyRobstrideMotorsSupervisor { inner: controller })
}
Expand Down
11 changes: 9 additions & 2 deletions actuator/rust/robstride/src/bin/multisupervisor.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@ struct Args {
min_update_rate: f64,
#[arg(long, help = "Maximum update rate (Hz)", default_value_t = 1000.0)]
max_update_rate: f64,
#[arg(long, help = "Zero on init", default_value_t = false)]
zero_on_init: bool,
}

fn sinusoid(
Expand Down Expand Up @@ -123,8 +125,13 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
})
.collect();

let controller =
MotorsSupervisor::new(&port_name, &motor_types, args.verbose, args.max_update_rate)?;
let controller = MotorsSupervisor::new(
&port_name,
&motor_types,
args.verbose,
args.max_update_rate,
args.zero_on_init,
)?;

println!("Motor Controller Test CLI");
println!("Available commands:");
Expand Down
11 changes: 9 additions & 2 deletions actuator/rust/robstride/src/bin/supervisor.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@ struct Args {
min_update_rate: f64,
#[arg(long, help = "Maximum update rate (Hz)", default_value_t = 1000.0)]
max_update_rate: f64,
#[arg(long, help = "Zero on init", default_value_t = false)]
zero_on_init: bool,
}

fn sinusoid(
Expand Down Expand Up @@ -85,8 +87,13 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
};
let motor_type = motor_type_from_str(motor_type_input.as_str())?;
let motor_infos: HashMap<u8, MotorType> = HashMap::from([(test_id, motor_type)]);
let controller =
MotorsSupervisor::new(&port_name, &motor_infos, args.verbose, args.max_update_rate)?;
let controller = MotorsSupervisor::new(
&port_name,
&motor_infos,
args.verbose,
args.max_update_rate,
args.zero_on_init,
)?;

println!("Motor Controller Test CLI");
println!("Available commands:");
Expand Down
3 changes: 2 additions & 1 deletion actuator/rust/robstride/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -899,6 +899,7 @@ impl MotorsSupervisor {
motor_infos: &HashMap<u8, MotorType>,
verbose: bool,
max_update_rate: f64,
zero_on_init: bool,
) -> Result<Self, Box<dyn std::error::Error>> {
// Initialize Motors
let motors = Motors::new(port_name, motor_infos, verbose)?;
Expand All @@ -925,7 +926,7 @@ impl MotorsSupervisor {
let zero_on_init_motors = motors
.motor_configs
.iter()
.filter(|(_, &config)| config.zero_on_init)
.filter(|(_, &config)| config.zero_on_init || zero_on_init)
.map(|(&id, _)| id)
.collect::<HashSet<u8>>();

Expand Down
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