Feature uarm gcode protocol and canbus implementation#26
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June 19, 2019 14:01
…gcode_generator class
…uarm_swift_pro class
…uarm_swift_pro class
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There are a lot of 'this->append', can you combine some of them? |
JordyAlkema
requested changes
Jul 1, 2019
| comm.accept_frame(data2); | ||
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| uarm.process(); | ||
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Test is missing REQUIRES to check the final state and/or return values.
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This is because the debug method doesn't return anything. It uses the hwlib::cout and so I checked if the can_bus/mock_bus works
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| /** | ||
| * @brief set current position head to reference position to gcode | ||
| * Makes the set current position head to reference position gcode command for the uarm |
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It is a bit odd that a lot of the functions say 'This function wil get ...' however don't return that value
That's because I have not implemented a char for the debug method to return. It will be another feature/upgrade to get after this PR
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| /** | ||
| * @brief check posibility of coordinates cartesian polar to gcode | ||
| * Makes the check posibility of coordinates cartesian polar gcode command for the uarm |
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| /** | ||
| * @brief attach all joint motors | ||
| * This setting function attach all the joint motors. |
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It is a bit odd that a lot of the functions say 'This function wil get ...' however don't return that value |
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This code is done and ready for release
The interface now works with the canbus.
The uarm has all their API for gcode commands
Tests for the interface/canbus are written and tested
The debug function is now to hwlib::cout and it's better to convert it to a log or something like that. To make better tests