SmartBench/cmvr-es
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merge code

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This commit is contained in:
xtkuang 2026-09-07 16:15:50 +08:00
parent 0efee08142
commit 595010aada
1 changed files with 2 additions and 0 deletions
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2
cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h vendored
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@ -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<EyouMotorAdapter> 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