0.2.0

Author: gbr1

examples/firmware_01/firmware_01.ino

@@ -238,7 +238,6 @@ void loop(){
     // pose
     msg_size = packeter.packetC3F('z', alvik.getX(), alvik.getY(), alvik.getTheta());
     alvik.serial->write(packeter.msg, msg_size);
-
   }
 
   // acknowledge

library.properties

@@ -1,5 +1,5 @@
 name=Arduino Alvik Carrier
-version=0.1.2
+version=0.2.0
 author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
 maintainer=Arduino <[email protected]>
 sentence=Library and firmware for Arduino Alvik Carrier board

src/Arduino_AlvikCarrier.h

@@ -234,8 +234,8 @@ class Arduino_AlvikCarrier{
         void lockingRotate(const float angle);                                          // rotate of angle degrees     
         void lockingMove(const float distance);                                         // move of distance millimeters
 
-        void disableKinematicsMovement();
-        bool isTargetReached();
+        void disableKinematicsMovement();                                               // disable movements that requires kinematics
+        bool isTargetReached();                                                         // get true if a movement is accomplished
         uint8_t getKinematicsMovement();                                                // get which kind of motion is running in kinematic control
 
 

src/definitions/robot_definitions.h

@@ -79,8 +79,8 @@ const float MOTION_FX_PERIOD = (1000U / MOTION_FX_FREQ);
 
 // Library version
 #define VERSION_BYTE_HIGH 0
-#define VERSION_BYTE_MID 1
-#define VERSION_BYTE_LOW 2
+#define VERSION_BYTE_MID 2
+#define VERSION_BYTE_LOW 0