Add Motor API for multiple synchronous motor control#38
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luisss3 wants to merge 31 commits intoMcMasterExoskeleton:mainfrom
Open
Add Motor API for multiple synchronous motor control#38luisss3 wants to merge 31 commits intoMcMasterExoskeleton:mainfrom
luisss3 wants to merge 31 commits intoMcMasterExoskeleton:mainfrom
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…d to the function I created (InitializeMotor)
- Some of the function signatures in the C++ file didn't match the definition in the header file - Cleaned up a couple of warnings by intializing variables to 0
Fixed semantic bugs in motor API
Updated slave ID address
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May 14, 2025
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deleted unnecessary files from PR
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Summary
This PR introduces a high-level C++ Motor API for interacting with PRS/SRS R2 Series motors over Modbus RTU. The API abstracts low-level register communication and provides easy-to-use methods such as
setTorque(),setSpeed(), andgetActualPosition().Features
initializeMotor()setTorque,getActualTorque)setTargetVelocity,getActualVelocity)setPosition,getActualPosition)stopMotor()anddisconnectMotor()motor_api_test.cpp)Notes
Testing
All functionality has been tested on a 48V 200W motor via usb adaptor using GoogleTest. Tests cover initialization, control commands, and safety shutdowns. Multiple motors test suite to be included.