From 595010aada693e748d5d60a78b2817350af40fb7 Mon Sep 17 00:00:00 2001 From: xtkuang <87661715@qq.com> Date: Mon, 7 Sep 2026 16:15:50 +0800 Subject: [PATCH] merge code --- .../drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h b/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h index 067c97ba..d4247105 100644 --- a/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h +++ b/cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h @@ -40,6 +40,7 @@ private: bool hasValidConversion_() const; bool writeVendorPositionLimits_() const; bool writeVendorVelocityLimit_() const; + void configureCurrentConversion_(); std::int32_t radToCounts_(double angle_rad) const; std::uint32_t radPerSecToCounts_(double velocity_rad_s) const; @@ -47,6 +48,7 @@ private: std::unique_ptr vendor_adapter_; double encoder_counts_per_rev_{0.0}; double gear_ratio_{0.0}; + double current_scale_ma_per_count_{1.0}; }; } // namespace cmvr::device