position control is now in AlvikCarrier class

Author: gbr1

src/Arduino_AlvikCarrier.cpp

@@ -323,6 +323,53 @@ void Arduino_AlvikCarrier::setKPidLeft(const float kp, const float ki, const flo
     motor_control_left->setKD(kd);
 }
 
+void Arduino_AlvikCarrier::setPositionLeft(const float degrees){
+    motor_control_left->setPosition(degrees);
+}
+
+float Arduino_AlvikCarrier::getPositionLeft(){
+    return motor_control_left->getPosition();
+}
+
+void Arduino_AlvikCarrier::setPositionRight(const float degrees){
+    motor_control_right->setPosition(degrees);
+}  
+
+float Arduino_AlvikCarrier::getPositionRight(){
+    return motor_control_right->getPosition();
+}
+
+void Arduino_AlvikCarrier::setPosition(const float left_deg, const float right_deg){
+    setPositionLeft(left_deg);
+    setPositionRight(right_deg);
+}
+
+void Arduino_AlvikCarrier::getPosition(float & left_deg, float & right_deg){
+    left_deg = getPositionLeft();
+    right_deg = getPositionRight();
+}
+
+void Arduino_AlvikCarrier::resetPositionLeft(const float initial_position){
+    motor_control_left->resetPosition(initial_position);
+}
+
+void Arduino_AlvikCarrier::resetPositionRight(const float initial_position){
+    motor_control_right->resetPosition(initial_position);
+}
+
+void Arduino_AlvikCarrier::disablePositionControlLeft(){
+    motor_control_left->disablePositionControl();
+}
+
+void Arduino_AlvikCarrier::disablePositionControlRight(){
+    motor_control_right->disablePositionControl();
+}
+
+void Arduino_AlvikCarrier::disablePositionControl(){
+    disablePositionControlLeft();
+    disablePositionControlRight();
+} 
+
 
 
 /******************************************************************************************************/

src/Arduino_AlvikCarrier.h

@@ -142,8 +142,20 @@ class Arduino_AlvikCarrier{
         float getRpmRight();                                                            // get RPM of right motor
         bool setRpm(const float left, const float right);                               // sets RPMs on left and right wheels
         void getRpm(float & left, float & right);                                       // get RPMs on left and right wheels
-        void setKPidRight(const float kp, const float ki, const float kd);              // set PID parameters for right wheel
         void setKPidLeft(const float kp, const float ki, const float kd);               // set PID parameters for left wheel
+        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
+        void setPositionRight(const float degrees);                                     // set position in degrees on right wheel
+        float getPositionRight();                                                       // get right wheel position in degrees
+        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
+        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
+        void disablePositionControlRight();                                             // disable the position control on right wheel
+        void disablePositionControl();                                                  // disable the position control on both wheels
+