Added current control bandwith to the json and updated the format.

Author: JorisWeeda

march_hardware/config/march_odrive.json

@@ -34,6 +34,12 @@
         "type":"float",
         "value":50000.0
     },
+    {
+        "name":"axis0.motor.config.current_control_bandwidth",
+        "type":"float",
+        "value":100.0
+    },
+
     {
         "name":"axis0.motor.config.motor_type",
         "type":"uint8",
@@ -54,11 +60,6 @@
         "type":"uint8",
         "value":1
     },
-    {
-        "name":"axis0.motor.config.direction",
-        "type":"int32",
-        "value":0
-    },
     {
         "name":"axis0.sensorless_estimator.config.pm_flux_linkage",
         "type":"float",

march_hardware/src/odrive/odrive.cpp

@@ -323,17 +323,17 @@ int Odrive::json_string_write(const Json::Value& json_parameter_object)
   }
   else if (type_name == "int8")
   {
-    int8_t casted_value = value.asUInt();
+    int8_t casted_value = value.asInt();
     return this->write(parameter_name, casted_value);
   }
   else if (type_name == "int16")
   {
-    int16_t casted_value = value.asUInt();
+    int16_t casted_value = value.asInt();
     return this->write(parameter_name, casted_value);
   }
   else if (type_name == "int32")
   {
-    int32_t casted_value = value.asUInt();
+    int32_t casted_value = value.asInt();
     return this->write(parameter_name, casted_value);
   }
   else if (type_name == "float")

march_hardware/src/odrive/odrive_motor.cpp

@@ -109,7 +109,6 @@ void OdriveMotor::actuateRad(double target_rad)
 void OdriveMotor::actuateTorque(double target_torque_ampere)
 {
   float target_torque_ampere_float = (float)target_torque_ampere;
-  ROS_INFO("target torque: %f", target_torque_ampere_float);
 
   std::string command_name_ = this->create_command(O_PM_DESIRED_MOTOR_CURRENT);
   if (this->write(command_name_, target_torque_ampere_float) == 1)
@@ -211,12 +210,10 @@ float OdriveMotor::getMotorCurrent()
   std::string command_name_ = this->create_command(O_PM_ACTUAL_MOTOR_CURRENT);
   if (this->read(command_name_, motor_current) == 1)
   {
-    ROS_ERROR("Could not retrieve motor courrent");
+    ROS_ERROR("Could not retrieve motor current");
     return ODRIVE_ERROR;
   }
 
-    ROS_INFO("actual torque: %f", motor_current);
-
   return motor_current;
 }
 
@@ -235,10 +232,7 @@ float OdriveMotor::getMotorVoltage()
 
 double OdriveMotor::getTorque()
 {
-  double motor_current = this->getMotorCurrent();
-  double motor_torque = CURRENT_TO_TORQUE_CONVERSION * motor_current / MOTOR_KV;
-
-  return motor_torque;
+  return this->getMotorCurrent();
 }
 
 int OdriveMotor::getAngleCountsAbsolute()
@@ -268,7 +262,7 @@ int OdriveMotor::getAngleCountsIncremental()
   if (this->read(command_name_, iu_position) == 1)
   {
     ROS_ERROR("Could not retrieve incremental position of the encoder");
-    return ODRIVE_ERROR;
+    return ODRIVE_ERROR
   }
   return iu_position;
 }
@@ -286,7 +280,7 @@ double OdriveMotor::getVelocityRadIncremental()
   if (this->read(command_name_, iu_velocity) == 1)
   {
     ROS_ERROR("Could not retrieve incremental velocity of the encoder");
-    return ODRIVE_ERROR;
+    return ODRIVE_ERROR
   }
 
   double angle_rad = iu_velocity * PI_2 / (std::pow(2, 12) * 101);

march_hardware_builder/include/march_hardware_builder/allowed_robot.h

@@ -24,7 +24,6 @@ class AllowedRobot
   AllowedRobot() = default;
   explicit AllowedRobot(const std::string& robot_name)
   {
-      ROS_WARN("Used robot %s", robot_name);
     if (robot_name == "march4")
     {
       this->value = march4;