Implement manual mode arm API (freedrive) - #230
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Nicolas Menard (npmenard)
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September 11, 2026 13:45
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General feeling is that this is breaking the encapsulation of the state machine. Should freedrive just BE a state that the arm can be in?
| return {/*support_manual_mode=*/false, /*support_cartesian_commands=*/true}; | ||
| // Freedrive is UR's manual (gravity compensation) mode, and | ||
| // `move_to_position` provides direct cartesian commands. | ||
| return {/*support_manual_mode=*/true, /*support_cartesian_commands=*/true}; |
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I'd drop the inline comments. This repo is C++20 so you can use designated initializer syntax here if you want to make it clear, probably:
return { .support_manual_mode. true, .support_cartesian_commands = true };
| // If we are no longer in the controlled state, the control script has | ||
| // already left freedrive (or is gone entirely); clearing our tracking | ||
| // above is all there is to do. | ||
| if (auto* const controlled = std::get_if<state_controlled_>(¤t_state_)) { |
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It is more work, but the right way to do this is to delegate to the states.
| // MODE_FORWARD message would knock the control script out of freedrive) | ||
| // and enforces `freedrive_deadline_`, the automatic exit time, when set. | ||
| bool freedrive_active_{false}; | ||
| std::optional<std::chrono::steady_clock::time_point> freedrive_deadline_; |
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Can you not use the deadline to know whether you are active or not? Do you also need the bool?
| } | ||
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| void URArm::state_::send_noop_() { | ||
| if (handle_freedrive_()) { |
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This makes me think that freedrive should be its own state?
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