update for spec 2.0.x

Author: yconst

CMakeLists.txt

@@ -130,14 +130,24 @@ include_directories(
 set(TINYMOVR_SOURCES
   src/tinymovr/can.cpp
   src/tinymovr/comms.cpp
+  src/tinymovr/commutation_sensor.cpp
   src/tinymovr/controller.cpp
   src/tinymovr/current.cpp
-  src/tinymovr/encoder.cpp
+  src/tinymovr/external_spi.cpp
+  src/tinymovr/hall.cpp
+  src/tinymovr/homing.cpp
   src/tinymovr/motor.cpp
+  src/tinymovr/onboard.cpp
+  src/tinymovr/position_sensor.cpp
   src/tinymovr/position.cpp
   src/tinymovr/scheduler.cpp
+  src/tinymovr/select.cpp
+  src/tinymovr/sensors.cpp
+  src/tinymovr/setup.cpp
+  src/tinymovr/stall_detect.cpp
   src/tinymovr/tinymovr.cpp
   src/tinymovr/traj_planner.cpp
+  src/tinymovr/user_frame.cpp
   src/tinymovr/velocity.cpp
   src/tinymovr/voltage.cpp
   src/tinymovr/watchdog.cpp

include/tinymovr/encoder.hpp

@@ -239,7 +239,9 @@ bool TinymovrJoint::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw_nh)
     ROS_DEBUG("Asserting calibrated");
     for (int i=0; i<num_joints; i++)
     {
-        ROS_ASSERT((servos[i].encoder.get_calibrated() == true) && (servos[i].motor.get_calibrated() == true));
+        ROS_ASSERT((servos[i].sensors.select.commutation_sensor.get_calibrated() == true) 
+                    && (servos[i].sensors.select.position_sensor.get_calibrated() == true) 
+                    && (servos[i].motor.get_calibrated() == true));
         ROS_DEBUG("%s ok", joint_name[i].c_str());
     }
 
@@ -327,8 +329,8 @@ void TinymovrJoint::read(const ros::Time& time, const ros::Duration& period)
         for (int i=0; i<servos.size(); i++)
         {
             const double ticks_to_rads = 1.0/rads_to_ticks[i];
-            joint_position_state[i] = servos[i].encoder.get_position_estimate() * ticks_to_rads;
-            joint_velocity_state[i] = servos[i].encoder.get_velocity_estimate() * ticks_to_rads;
+            joint_position_state[i] = servos[i].sensors.user_frame.get_position_estimate() * ticks_to_rads;
+            joint_velocity_state[i] = servos[i].sensors.user_frame.get_velocity_estimate() * ticks_to_rads;
             joint_effort_state[i] = servos[i].controller.current.get_Iq_estimate();
         }
     }