Add utilities to send profile velocity and position to single elmo - #165
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alas, I have no CASAH coins to offer |
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Code compiles, but unable to test in hardware. It shows an issue with this MR: it is two 500 lines cpp files, mostly inside the main function. It should break it down so it can be tested, and add those tests. Broken down code could stay in the same file, unless it could be reused (with minimal efforts to avoid duplication at the cost of abstraction) |
PastorD
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Aug 25, 2026
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Code builds and it does not affect existing behavior safe to merge
Some improvements:
- refactor both new files outside the main function to be able to test them, and add test
PastorD
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Aug 25, 2026
| << std::hex << final_sms << std::dec << std::endl; | ||
| last_logged_sms = final_sms; | ||
| } | ||
| if (final_sms == 0x40 || final_sms == 0x21 || final_sms == 0x23) { |
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promote magic numbers to const variables, so meaning is clear
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Adds two small utilities that start up an ethercat bus and either a) run a single velocity trap profile or b) run a single position trap profile on an elmo named within a bus defined by a supplied fastcat yaml config file.
Also added detail on use of
setcapcommand to remove need for root user access to run raw socket for ethercat master.bump minor version