fixs on firmware

Author: gbr1

examples/firmware_01/firmware_01.ino

@@ -209,6 +209,20 @@ void loop(){
     // robot speed
     msg_size = packeter.packetC2F('v', alvik.getLinearVelocity(), alvik.getAngularVelocity());
     alvik.serial->write(packeter.msg, msg_size);
+
+    if (alvik.getKinematicsMovement()!=MOVEMENT_DISABLED){
+      if (alvik.isTargetReached()){
+        if (alvik.getKinematicsMovement()==MOVEMENT_ROTATE){
+          msg_size = packeter.packetC1B('x', 'R');
+        }
+        if (alvik.getKinematicsMovement()==MOVEMENT_MOVE){
+          msg_size = packeter.packetC1B('x', 'M');
+        }
+        alvik.serial->write(packeter.msg, msg_size);
+        alvik.disableKinematicsMovement();
+      }
+
+    }
   }
 
   if (millis()-timu>10){

src/Arduino_AlvikCarrier.cpp

@@ -796,3 +796,7 @@ void Arduino_AlvikCarrier::disableKinematicsMovement(){
 bool Arduino_AlvikCarrier::isTargetReached(){
     return kinematics_achieved;
 }
+
+uint8_t Arduino_AlvikCarrier::getKinematicsMovement(){
+    return kinematics_movement;
+}

src/Arduino_AlvikCarrier.h

@@ -232,6 +232,7 @@ class Arduino_AlvikCarrier{
 
         void disableKinematicsMovement();
         bool isTargetReached();
+        uint8_t getKinematicsMovement();                                                 // get which kind of motion is running in kinematic control
 
 
 };