isPositionReached() is now exposed in AlvikCarrier class

Author: gbr1

src/Arduino_AlvikCarrier.cpp

@@ -362,6 +362,10 @@ float Arduino_AlvikCarrier::getPositionLeft(){
     return motor_control_left->getPosition();
 }
 
+bool Arduino_AlvikCarrier::isPositionLeftReached(){
+    return motor_control_left->isPositionReached();
+}
+
 void Arduino_AlvikCarrier::setPositionRight(const float degrees){
     motor_control_right->setPosition(degrees);
 }  
@@ -370,6 +374,10 @@ float Arduino_AlvikCarrier::getPositionRight(){
     return motor_control_right->getPosition();
 }
 
+bool Arduino_AlvikCarrier::isPositionRightReached(){
+    return motor_control_right->isPositionReached();
+}
+
 void Arduino_AlvikCarrier::setPosition(const float left_deg, const float right_deg){
     setPositionLeft(left_deg);
     setPositionRight(right_deg);
@@ -380,6 +388,10 @@ void Arduino_AlvikCarrier::getPosition(float & left_deg, float & right_deg){
     right_deg = getPositionRight();
 }
 
+bool Arduino_AlvikCarrier::isPositionReached(){
+    return isPositionLeftReached() && isPositionRightReached();
+}
+
 void Arduino_AlvikCarrier::resetPositionLeft(const float initial_position){
     motor_control_left->resetPosition(initial_position);
 }

src/Arduino_AlvikCarrier.h

@@ -172,10 +172,13 @@ class Arduino_AlvikCarrier{
         void setKPidRight(const float kp, const float ki, const float kd);              // set PID parameters for right wheel
         void setPositionLeft(const float degrees);                                      // set position in degrees on left wheel
         float getPositionLeft();                                                        // get left wheel position in degrees
+        bool isPositionLeftReached();                                                   // return true if left wheel position is reached
         void setPositionRight(const float degrees);                                     // set position in degrees on right wheel
         float getPositionRight();                                                       // get right wheel position in degrees
+        bool isPositionRightReached();                                                  // return true if right wheel position is reached
         void setPosition(const float left_deg, const float right_deg);                  // set positions on both wheels
         void getPosition(float & left_deg, float & right_deg);                          // get both wheels position
+        bool isPositionReached();                                                       // return true if both wheels position are reached
         void resetPositionLeft(const float initial_position=0.0);                       // reset/set value of position for left wheel
         void resetPositionRight(const float initial_position=0.0);                      // reset/set value of position for right wheel
         void disablePositionControlLeft();                                              // disable the position control on left wheel

src/definitions/robot_definitions.h

@@ -59,6 +59,9 @@ const float MOTOR_RATIO = MOTOR_CPR*MOTOR_GEAR_RATIO;
 #define MOVEMENT_DISABLED 0
 #define MOVEMENT_ROTATE 1
 #define MOVEMENT_MOVE 2
+#define MOVEMENT_LEFT 3
+#define MOVEMENT_RIGHT 4
+#define MOVEMENT_POSITION 5
 
 
 #define LIFT_THRESHOLD 80