Adding multiturn features, removing brushless drive soft limit, FindC…

…om more verbose
iq-motion-control · Nov 6, 2020 · 777f8ee · 777f8ee
1 parent 4542919
commit 777f8ee
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Showing 3 changed files with 12 additions and 4 deletions.
diff --git a/iq/src/clients/brushless_drive.json b/iq/src/clients/brushless_drive.json
@@ -30,8 +30,6 @@
 {"type_idn":50, "param":"motor_redline_start",      "param_idn":  38, "format":"f", "unit": "rad/s"       },
 {"type_idn":50, "param":"motor_redline_end",        "param_idn":  39, "format":"f", "unit": "rad/s"       },
 {"type_idn":50, "param":"motor_l",                  "param_idn":  40, "format":"f", "unit": "H"           },
-{"type_idn":50, "param":"derate",                   "param_idn":  41, "format":"i", "unit": "PU fix16"    },
-{"type_idn":50, "param":"i_soft_start",             "param_idn":  42, "format":"f", "unit": "A"           },
-{"type_idn":50, "param":"i_soft_end",               "param_idn":  43, "format":"f", "unit": "A"           }
+{"type_idn":50, "param":"derate",                   "param_idn":  41, "format":"i", "unit": "PU fix16"    }
 
 ]
diff --git a/iq/src/clients/multi_turn_angle_control.json b/iq/src/clients/multi_turn_angle_control.json
@@ -25,6 +25,8 @@
 {"type_idn":59, "param":"trajectory_duration",              "param_idn":  22,"format":"f", "unit": "s"          },
 {"type_idn":59, "param":"trajectory_linear_displacement",   "param_idn":  23,"format":"f", "unit": "m"          },
 {"type_idn":59, "param":"trajectory_linear_velocity",       "param_idn":  24,"format":"f", "unit": "m/s"        },
-{"type_idn":59, "param":"trajectory_linear_acceleration",   "param_idn":  25,"format":"f", "unit": "m/s^2"      }
+{"type_idn":59, "param":"trajectory_linear_acceleration",   "param_idn":  25,"format":"f", "unit": "m/s^2"      },
+{"type_idn":59, "param":"trajectory_average_speed",         "param_idn":  26,"format":"f", "unit": "rad/s"        },
+{"type_idn":59, "param":"trajectory_queue_mode",            "param_idn":  27,"format":"b", "unit": ""           }
 
 ]
diff --git a/iq/src/communication/FindCom.m b/iq/src/communication/FindCom.m
@@ -35,6 +35,8 @@
 
     % Sets up a com
     id = p.Results.id;
+
+    com = [];
 
     %% Find/make com
     coms = seriallist;
@@ -48,14 +50,20 @@
                 if(id == id_in)
                     disp(['Using MessageInterface on ', coms{i}]);
                     break;
+                else
+                    disp(['No response on ' coms{i}]);
                 end
             elseif(~isempty(id_in))
                 disp(['Using MessageInterface on ', coms{i}]);
                 break;
+            else
+                disp(['No response on ' coms{i}]);
             end
         catch ME
             if (~strcmp(ME.identifier, 'MATLAB:serial:fopen:opfailed'))
                 rethrow(ME);
+            else
+                disp(['Could not open ' coms{i}]);
             end
         end
     end