FIXS: issue on wheel position reset

gbr1 · gbr1 · commit 9c33a23825aa · 2024-06-17T17:48:36.000+02:00
diff --git a/library.properties b/library.properties
@@ -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 <info@arduino.cc>
 sentence=Library and firmware for Arduino Alvik Carrier board
diff --git a/src/definitions/robot_definitions.h b/src/definitions/robot_definitions.h
@@ -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
 
 
 
diff --git a/src/motor_control/motor_control.cpp b/src/motor_control/motor_control.cpp
@@ -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(){

Original file line number	Diff line number	Diff line change
`@@ -217,7 +217,10 @@ bool MotorControl::isPositionControlEnabled(){`
`217`	`217`	`}`
`218`	`218`
`219`	`219`	`void MotorControl::resetPosition(const float p0){`
`220`		`- position=p0;`
	`220`	`+ disablePositionControl();`
	`221`	`+ pos_pid->reset();`
	`222`	`+ position = p0;`
	`223`	`+ reference_position = p0;`
`221`	`224`	`}`
`222`	`225`
`223`	`226`	`float MotorControl::getPosition(){`