minor fix

Author: gbr1

examples/firmware_01/firmware_01.ino

@@ -29,6 +29,7 @@ uint8_t label;
 uint8_t control_type;
 uint8_t msg_size;
 uint8_t ack_required=0;
+int ack_counter=0;
 
 
 unsigned long tmotor=0;
@@ -158,13 +159,15 @@ void loop(){
         alvik.disablePositionControl();
         alvik.rotate(value);
         ack_required=MOVEMENT_ROTATE;
+        ack_counter=5;
         break;
 
       case 'G':
         packeter.unpacketC1F(code, value);
         alvik.disablePositionControl();
         alvik.move(value);
         ack_required=MOVEMENT_MOVE;
+        ack_counter=5;
         break;
 
       case 'Z':
@@ -253,14 +256,26 @@ void loop(){
   if (millis()-tack>100){
     tack=millis();
     msg_size = packeter.packetC1B('x', 0);
-    if (ack_required==MOVEMENT_ROTATE){
-      msg_size = packeter.packetC1B('x', 'R');
-      Serial.println("R");
+
+    if (alvik.isTargetReached()){
+      if (ack_required==MOVEMENT_ROTATE){
+        msg_size = packeter.packetC1B('x', 'R');
+        //ack_counter--;
+        Serial.println("R");
+      }
+      if (ack_required==MOVEMENT_MOVE){
+        msg_size = packeter.packetC1B('x', 'M');
+        //ack_counter--;
+        Serial.println("M");
+      }
     }
-    if (ack_required==MOVEMENT_MOVE){
-      msg_size = packeter.packetC1B('x', 'M');
-      Serial.println("M");
+
+
+    if (ack_counter<=0){
+      ack_counter=0;
+      ack_required=MOVEMENT_DISABLED;
     }
+
     alvik.serial->write(packeter.msg, msg_size);
   }
 

src/Arduino_AlvikCarrier.cpp

@@ -751,10 +751,11 @@ void Arduino_AlvikCarrier::lockingRotate(const float angle){
 }
 
 void Arduino_AlvikCarrier::rotate(const float angle){
+    disableKinematicsMovement();
+    kinematics_achieved=false;
     rotate_pid->reset();
     rotate_pid->setReference(kinematics->getTheta()+angle);
     kinematics_movement=MOVEMENT_ROTATE;
-    kinematics_achieved=false;
 }
 
 void Arduino_AlvikCarrier::lockingMove(const float distance){
@@ -784,6 +785,9 @@ void Arduino_AlvikCarrier::lockingMove(const float distance){
 }
 
 void Arduino_AlvikCarrier::move(const float distance){
+    disableKinematicsMovement();
+    kinematics_achieved=false;
+
     move_pid->reset();
     previous_travel=kinematics->getTravel();
     if (distance<0){
@@ -794,7 +798,6 @@ void Arduino_AlvikCarrier::move(const float distance){
     }
     move_pid->setReference(distance);
     kinematics_movement=MOVEMENT_MOVE;
-    kinematics_achieved=false;
 }
 
 void Arduino_AlvikCarrier::disableKinematicsMovement(){