FIXS: issue on wheel position reset

arduino-libraries · Jun 17, 2024 · 9c33a23 · 9c33a23
1 parent b9ef233
commit 9c33a23
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Showing 3 changed files with 6 additions and 3 deletions.
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 <[email protected]>
 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(){