Merge pull request #21 from arduino-libraries/devel

Fixs
arduino-libraries · Jul 10, 2024 · 1dc4029 · 1dc4029
2 parents 60f1751 + 03d4e3e
commit 1dc4029
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Showing 3 changed files with 7 additions and 4 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
@@ -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
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(){