incompatibleUnits(SassUnit a, SassUnit b)
: exception()
{
std::stringstream ss;
ss << "Incompatible units: ";
ss << "'" << unit_to_string(a) << "' and ";
ss << "'" << unit_to_string(b) << "'";
msg = ss.str().c_str();
}
void send_robot_info()
{
char temp[40];
print_encoder_selections();
strcpy(buff, "\r\nunit = " );
strcat(buff, unit_to_string() );
strcat(buff, "\r\n");
send_message( buff );
sprintf(buff, "Base Frequency = " );
dtostrf( FiveMotorConfigData.base_frequency, 3, 1, temp );
strcat(buff, temp );
strcat(buff, "\r\n");
send_message( buff );
sprintf(buff, "Wheel diameter= " );
dtostrf( FiveMotorConfigData.wheel_diameter, 3, 1, temp );
strcat(buff, temp );
strcat(buff, unit_to_string() );
strcat(buff, "\r\n");
send_message( buff );
sprintf(buff, "Wheel separation= " );
dtostrf( FiveMotorConfigData.wheel_separation, 3, 1, temp );
strcat(buff, temp );
strcat(buff, unit_to_string() );
strcat(buff, "\r\n");
send_message( buff );
sprintf(buff, "Wheel circumference= " );
// calc now b/c may have been stored under different unit.
float circumf = FiveMotorConfigData.wheel_diameter * M_PI;
dtostrf( circumf, 3, 1, temp );
strcat(buff, temp );
strcat(buff, unit_to_string() );
strcat(buff, "\r\n");
send_message( buff );
// List all unit to counts ratios:
for (int m=0; m<5; m++)
{
sprintf(buff, "\t%c counts_per_unit=%ld %s\r\n", motor_letters[m],
FiveMotorConfigData.counts_per_unit[m],
unit_to_string() );
send_message( buff );
}
// List all motor status':
/* sprintf(buff, "Motor Status':\r\n" );
send_message( buff );
for (int m=0; m<5; m++)
{
sprintf(buff, "\t%c motor_status=%2x \r\n", motor_letters[m],
FiveMotorConfigData.motor_status[m] );
send_message( buff );
}*/
// List Limit enable status:
send_limit_states();
// Uses the 'v' motor for the gearing.
sprintf( buff, "Counts per rev= " );
dtostrf( FiveMotorConfigData.wheel_counts_per_rev, 4, 1, temp );
strcat ( buff,temp );
strcat ( buff, "\r\n");
send_message( buff );
print_pid_parameters();
sprintf(buff, "\r\n"); // need a response to give the prompt again.
form_response(buff);
}
