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Fixs #21

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Merged
merged 4 commits into from
Jul 10, 2024
Merged

Fixs #21

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b9ef233
Merge pull request #19 from arduino-libraries/main
gbr1 Jun 17, 2024
9c33a23
FIXS: issue on wheel position reset
gbr1 Jun 17, 2024
178b6d4
library.properties: update name for STM32 dependencies
facchinm Jul 4, 2024
03d4e3e
Merge pull request #20 from arduino-libraries/facchinm-patch-1
gbr1 Jul 8, 2024
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4 changes: 2 additions & 2 deletions library.properties
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=Arduino_AlvikCarrier
version=1.0.0
version=1.0.1
author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
maintainer=Arduino <[email protected]>
sentence=Library and firmware for Arduino Alvik Carrier board
Expand All @@ -8,4 +8,4 @@ category=Robotics
url=https://github.com/arduino-libraries/Arduino_AlvikCarrier
architectures=stm32
includes=Arduino_AlvikCarrier.h
depends=Arduino_APDS9960, Arduino_MAX17332, STM32duino_LSM6DSO, STM32duino_MotionFX, STM32duino_VL53L7CX, AT42QT, ucPack
depends=Arduino_APDS9960, Arduino_MAX17332, STM32duino LSM6DSO, STM32duino MotionFX, STM32duino VL53L7CX, AT42QT, ucPack
2 changes: 1 addition & 1 deletion src/definitions/robot_definitions.h
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Expand Up @@ -88,7 +88,7 @@ const float MOTION_FX_PERIOD = (1000U / MOTION_FX_FREQ);
// Library version
#define VERSION_BYTE_HIGH 1
#define VERSION_BYTE_MID 0
#define VERSION_BYTE_LOW 0
#define VERSION_BYTE_LOW 1



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5 changes: 4 additions & 1 deletion src/motor_control/motor_control.cpp
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Expand Up @@ -217,7 +217,10 @@ bool MotorControl::isPositionControlEnabled(){
}

void MotorControl::resetPosition(const float p0){
position=p0;
disablePositionControl();
pos_pid->reset();
position = p0;
reference_position = p0;
}

float MotorControl::getPosition(){
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