Merge pull request #39 from westonrobot/feature-ranger_parking_mode

ugv_sdk: ranger: implemented parking mode within sdk for Ranger Mini …
westonrobot · Sep 27, 2023 · 83f1406 · 83f1406
2 parents 9f7dd39 + 50b8152
commit 83f1406
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/include/ugv_sdk/details/interface/ranger_interface.hpp b/include/ugv_sdk/details/interface/ranger_interface.hpp
@@ -47,7 +47,8 @@ struct RangerInterface {
     kDualAckerman = 0,
     kParallel = 1,
     kSpinning = 2,
-    kSideSlip = 3
+    kPark = 3,
+    kSideSlip = 4
   };
 
   virtual ~RangerInterface() = default;

diff --git a/include/ugv_sdk/details/robot_base/ranger_base.hpp b/include/ugv_sdk/details/robot_base/ranger_base.hpp
@@ -110,6 +110,15 @@ class RangerMiniV1Base : public RangerBaseV2 {
   ~RangerMiniV1Base() = default;
 
   // robot control
+  void SetMotionMode(uint8_t mode) override {
+    if (mode == RangerInterface::MotionMode::kPark) {
+      return;
+    } else if (mode == RangerInterface::MotionMode::kSideSlip) {
+      mode = 3;
+    }
+    AgilexBase::SetMotionMode(mode);
+  }
+
   void SetMotionCommand(double linear_vel, double steer_angle,
                         double angular_vel) override {
     auto state = GetRobotState();