feat(motorgo): Update to allow encoder accumulator to be reset (#406)

* Update MT6701 to allow accumulator to be reset
* Update MotorGo Mini to wrap this function for ease of use

This is helpful when switching regimes between velocity control and angle control for instance.

* Build and run as part of the `esp-motorgo-mini-gesture-control` project.

Author: finger563

components/motorgo-mini/include/motorgo-mini.hpp

@@ -195,6 +195,18 @@ class MotorGoMini : public BaseComponent {
   /// \return A reference to the encoder 2
   Encoder &encoder2();
 
+  /// Reset the encoder 1 accumulator
+  /// \details This function resets the encoder 1 accumulator to 0.
+  ///          This will reset the encoder's position to be within the range
+  ///          of 0 to 2*pi.
+  void reset_encoder1_accumulator();
+
+  /// Reset the encoder 2 accumulator
+  /// \details This function resets the encoder 2 accumulator to 0.
+  ///          This will reset the encoder's position to be within the range
+  ///          of 0 to 2*pi.
+  void reset_encoder2_accumulator();
+
   /////////////////////////////////////////////////////////////////////////////
   // Motor Current Sense
   /////////////////////////////////////////////////////////////////////////////

components/motorgo-mini/src/motorgo-mini.cpp

@@ -66,6 +66,10 @@ MotorGoMini::Encoder &MotorGoMini::encoder1() { return encoder1_; }
 
 MotorGoMini::Encoder &MotorGoMini::encoder2() { return encoder2_; }
 
+void MotorGoMini::reset_encoder1_accumulator() { encoder1_.reset_accumulator(); }
+
+void MotorGoMini::reset_encoder2_accumulator() { encoder2_.reset_accumulator(); }
+
 espp::BldcDriver &MotorGoMini::motor1_driver() { return motor1_driver_; }
 
 espp::BldcDriver &MotorGoMini::motor2_driver() { return motor2_driver_; }

components/mt6701/include/mt6701.hpp

@@ -183,6 +183,11 @@ class Mt6701 : public BasePeripheral<uint8_t, Interface == Mt6701Interface::I2C>
    */
   int get_accumulator() const { return accumulator_.load(); }
 
+  /**
+   * @brief Reset the accumulator to zero.
+   */
+  void reset_accumulator() { accumulator_ = 0; }
+
   /**
    * @brief Return the mechanical / shaft angle of the encoder, in radians,
    *        within the range [0, 2pi].