comments for hand impl

Author: imisaacwu

src/CAN/CANBoard.cpp

@@ -169,4 +169,12 @@ void CANBoard::read(uint16_t endpoint) {
     sendCANPacket(p);
 }
 
+/*
+void setStepper(float revs) {
+    CANMotorPacket_Stepper_DriveRevolutions()
+    sendCanPacket
+}
+
+*/
+
 } // namespace can

src/CAN/CANBoard.h

@@ -17,6 +17,9 @@ class CANBoard {
     void setMotorState(can::motor::axis_state_t state);
     void setMotorVel(int8_t velocity);
 
+    // Motor/Peripheral
+    void setStepper(float revs);
+
     // Universal
     void read(uint16_t endpoint);
 

src/control_interface.cpp

@@ -188,6 +188,9 @@ void setJointMotorPower(robot::types::jointid_t joint, double power) {
 			Globals::wristKinematics.jointPowerToGearPower(jointPwr);
 		setMotorPower(boardid_t::wristDiffLeft, gearPwr.left);
 		setMotorPower(boardid_t::wristDiffRight, gearPwr.right);
+	} else if (joint == jointid_t::hand) {
+		// we need a stepper power packet in real_world_interface (by extension in world_interface and simuator_interface)
+		// that we can call here with boardid_t::hand and float revs
 	} else {
 		LOG_F(WARNING, "setJointPower called for currently unsupported joint %s",
 			  util::to_string(joint).c_str());

src/world_interface/real_world_interface.cpp

@@ -302,4 +302,13 @@ void handleMotorEncoderEstimate(robot::types::boardid_t board, int32_t positionM
 	}
 }
 
+/*
+
+void setStepper(boardid_t board, float revs) {
+	getBoard_(board);
+	board_ptr->runStepper(revs)
+}
+
+*/
+
 } // namespace robot