Open aalex opened 1 year ago
S2 motor speed control
How can change the motor to something like 15 Hz instead of the default 10 Hz?
Here is the output of getMotorInfo:
getMotorInfo
But no matter what value I provide by calling setMotorSpeed, the desired_speed remains at 600. (600 seems to mean 600 RPM, which is 10 Hz)
setMotorSpeed
desired_speed
600
/// Attempt to set the motor speed: if (opt_channel_type == CHANNEL_TYPE_SERIALPORT) { std::cout << "Set motor speed to " << settings.get_motor_speed() << std::endl; //drv->setMotorSpeed(); // Trying to change the motor speed: sl_result setSpeedResult = drv->setMotorSpeed(settings.get_motor_speed()); std::cout << "Set speed? "; switch (setSpeedResult) { case SL_RESULT_OK: std::cout << "ok" << std::endl; break; case SL_RESULT_OPERATION_FAIL: std::cout << "fail" << std::endl; break; case SL_RESULT_OPERATION_NOT_SUPPORT: std::cout << "not support" << std::endl; break; case SL_RESULT_OPERATION_STOP: std::cout << "stop" << std::endl; break; case SL_RESULT_OPERATION_TIMEOUT: std::cout << "timeout" << std::endl; break; } LidarMotorInfo motorInfo; drv->getMotorInfo(motorInfo); std::cout << "max_speed: " << motorInfo.max_speed << std::endl; std::cout << "min_speed: " << motorInfo.min_speed << std::endl; std::cout << "desired_speed: " << motorInfo.desired_speed << std::endl; std::cout << "motorCtrlSupport: " << motorInfo.motorCtrlSupport << std::endl; //0=none, 1=pwn, 2=rpm }
Is this problem solved? I got same problem on A1 model. Result of setMotorSpeed() is SL_RESULT_OK. But desired_speed doesn't changed.
S2 motor speed control
How can change the motor to something like 15 Hz instead of the default 10 Hz?
Here is the output of
getMotorInfo
:But no matter what value I provide by calling
setMotorSpeed
, thedesired_speed
remains at600
. (600 seems to mean 600 RPM, which is 10 Hz)