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Add getters for fd_enabled and can_interface for openarm class (#27)

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Co-authored-by: Yue Yin <yue_yin@reazon.jp>
This commit is contained in:
thomason 2025-09-02 18:46:18 +09:00 committed by GitHub
parent 878bd85a8c
commit f66394bd90
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2 changed files with 4 additions and 1 deletions
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3
include/openarm/can/socket/openarm.hpp
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@ -28,6 +28,9 @@ public:
OpenArm(const std::string& can_interface, bool enable_fd = false); OpenArm(const std::string& can_interface, bool enable_fd = false);
~OpenArm() = default; ~OpenArm() = default;
std::string can_interface() const noexcept { return can_interface_; }
bool can_fd_enabled() const noexcept { return enable_fd_; }
// Component initialization // Component initialization
void init_arm_motors(const std::vector<damiao_motor::MotorType>& motor_types, void init_arm_motors(const std::vector<damiao_motor::MotorType>& motor_types,
const std::vector<uint32_t>& send_can_ids, const std::vector<uint32_t>& send_can_ids,

2
src/openarm/damiao_motor/dm_motor_device_collection.cpp
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@ -55,7 +55,7 @@ void DMDeviceCollection::set_zero_all() {
} }
void DMDeviceCollection::refresh_one(int i) { void DMDeviceCollection::refresh_one(int i) {
auto dm_device = get_dm_devices()[i]; auto dm_device = get_dm_devices().at(i);
auto& motor = dm_device->get_motor(); auto& motor = dm_device->get_motor();
CANPacket refresh_packet = CanPacketEncoder::create_refresh_command(motor); CANPacket refresh_packet = CanPacketEncoder::create_refresh_command(motor);
send_command_to_device(dm_device, refresh_packet); send_command_to_device(dm_device, refresh_packet);