RSDK-9037: Add AttachDirectionalAwareness to DoCommand #4552
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martha-johnston
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martha-johnston
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Nov 12, 2024
| em.logger.Warnf("setting ramp rate to default value of 0.05 instead of %v", em.rampRate) | ||
| em.rampRate = 0.05 // Use a conservative value by default. |
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this I just happened to see when I was testing and before it would always log "setting ramp rate to default value of 0.05 instead of 0.05" so I changed it
martha-johnston
commented
Nov 12, 2024
| @@ -213,7 +220,7 @@ func createNewMotor( | |||
| return nil, err | |||
| } | |||
| default: | |||
| m, err = setupMotorWithControls(ctx, basic, e, cfg, logger) | |||
| m, err = setupMotorWithControls(ctx, m, e, cfg, logger) | |||
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all the changes in controlled motor come from this change. I wanted to remove the basic casting and try to keep everything at the motor interface level
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Nov 13, 2024
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I'm not sure I think this is any better than the way it was before. I considered the method Olivia suggested by converting the
DoCommandinterface into a motor object, but it couldn't bemotor.Motor, it would have to be specificallygpio.Motorbecause the interface doesn't implement all the API functions. And imogpio.MotorinDoCommandis no better thansingle.Encoderinsetup.goas it was before. Open to ideas tho, because I don't love this implementation.Basically, my goal here was to avoid casting to any specific model types of either motor or encoder. I did have to cast to the
DirectionAwaretype, but that seemed better since it's specific to single encoder.