Lispbm offDelay current argument

comm/comm_can.h

@@ -32,7 +32,7 @@ void comm_can_set_baud(CAN_BAUD baud);
 void comm_can_transmit_eid(uint32_t id, const uint8_t *data, uint8_t len);
 void comm_can_transmit_eid_if(uint32_t id, const uint8_t *data, uint8_t len, int interface);
 void comm_can_transmit_eid_replace(uint32_t id, const uint8_t *data, uint8_t len, bool replace, int interface);
-void comm_can_transmit_sid(uint32_t id, uint8_t *data, uint8_t len);
+void comm_can_transmit_sid(uint32_t id, const uint8_t *data, uint8_t len);
 void comm_can_set_sid_rx_callback(bool (*p_func)(uint32_t id, uint8_t *data, uint8_t len));
 void comm_can_set_eid_rx_callback(bool (*p_func)(uint32_t id, uint8_t *data, uint8_t len));
 void comm_can_send_buffer(uint8_t controller_id, uint8_t *data, unsigned int len, uint8_t send);

lispBM/README.md

@@ -319,19 +319,23 @@ Sets the override value
 #### set-current
 
 ```clj
-(set-current current)
+(set-current current optOffDelay)
 ```
 
 Set motor current in amperes.
 
+The optional optOffDelay argument (in seconds) will delay turning off the modulation when setting 0 current. This is useful when running e.g. a control loop that will end up setting 0 current in some circumstances when turning off the modulation would make the control less smooth. The delay value should be longer than the rate at which the control loop runs.
+
 #### set-current-rel
 
 ```clj
-(set-current-rel current)
+(set-current-rel current optOffDelay)
 ```
 
 Set motor current relative to the maximum current. Range -1 to 1. For example, if the maximum current is set to 50A, (set-current-rel 0.5) will set the current to 25A.
 
+See [set-current](#set-current) for details on what the optional argument optOffDelay does.
+
 #### set-duty
 ```clj
 (set-duty dutycycle)
@@ -480,7 +484,7 @@ Notice that all canget-commands rely on the status messages being active on the
 
 #### canset-current
 ```clj
-(canset-current id current)
+(canset-current id current optOffDelay)
 ```
 
 Set current over CAN-bus on VESC with id. Example for setting 25A on VESC with id 115:
@@ -489,13 +493,17 @@ Set current over CAN-bus on VESC with id. Example for setting 25A on VESC with i
 (canset-current 115 25)
 ```
 
+See [set-current](#set-current) for details on what the optional argument optOffDelay does.
+
 #### canset-current-rel
 ```clj
-(canset-current-rel id current)
+(canset-current-rel id current optOffDelay)
 ```
 
 Same as above, but relative current in the range -1.0 to 1.0. See (set-current) for details on what relative current means.
 
+See [set-current](#set-current) for details on what the optional argument optOffDelay does.
+
 #### canset-duty
 ```clj
 (canset-duty id duty)

lispBM/lispif_vesc_extensions.c

@@ -987,16 +987,32 @@ static lbm_value ext_app_adc_override(lbm_value *args, lbm_uint argn) {
 // Motor set commands
 
 static lbm_value ext_set_current(lbm_value *args, lbm_uint argn) {
-	CHECK_ARGN_NUMBER(1);
-	timeout_reset();
-	mc_interface_set_current(lbm_dec_as_float(args[0]));
+	CHECK_NUMBER_ALL();
+
+	if (argn == 1) {
+		mc_interface_set_current(lbm_dec_as_float(args[0]));
+	} else if (argn == 2) {
+		mc_interface_set_current_off_delay(lbm_dec_as_float(args[1]));
+		mc_interface_set_current(lbm_dec_as_float(args[0]));
+	} else {
+		return lbm_enc_sym(SYM_EERROR);
+	}
+
 	return lbm_enc_sym(SYM_TRUE);
 }
 
 static lbm_value ext_set_current_rel(lbm_value *args, lbm_uint argn) {
-	CHECK_ARGN_NUMBER(1);
-	timeout_reset();
-	mc_interface_set_current_rel(lbm_dec_as_float(args[0]));
+	CHECK_NUMBER_ALL();
+
+	if (argn == 1) {
+		mc_interface_set_current_rel(lbm_dec_as_float(args[0]));
+	} else if (argn == 2) {
+		mc_interface_set_current_off_delay(lbm_dec_as_float(args[1]));
+		mc_interface_set_current_rel(lbm_dec_as_float(args[0]));
+	} else {
+		return lbm_enc_sym(SYM_EERROR);
+	}
+
 	return lbm_enc_sym(SYM_TRUE);
 }