Merge branch 'devel' of github.com:madcowswe/ODrive into devel

Arduino/ODriveArduino/ODriveArduino.cpp

@@ -50,6 +50,11 @@ float ODriveArduino::readFloat() {
     return readString().toFloat();
 }
 
+float ODriveArduino::GetVelocity(int motor_number){
+	serial_<< "r axis" << motor_number << ".encoder.vel_estimate\n";
+	return ODriveArduino::readFloat();
+}
+
 int32_t ODriveArduino::readInt() {
     return readString().toInt();
 }

Arduino/ODriveArduino/ODriveArduino.h

@@ -28,6 +28,8 @@ public:
     void SetVelocity(int motor_number, float velocity, float current_feedforward);
     void SetCurrent(int motor_number, float current);
     void TrapezoidalMove(int motor_number, float position);
+    // Getters
+    float GetVelocity(int motor_number);
     // General params
     float readFloat();
     int32_t readInt();

Firmware/.clang-format

@@ -0,0 +1,7 @@
+---
+BasedOnStyle: Google
+AlignConsecutiveAssignments: 'true'
+AllowShortCaseLabelsOnASingleLine: 'true'
+IndentWidth: '4'
+
+...

Firmware/.vscode/launch.json

@@ -15,6 +15,7 @@
                 "interface/stlink-v2.cfg",
                 "target/stm32f4x_stlink.cfg",
             ],
+            "svdFile": "${workspaceRoot}/Board/v3/STM32F40x.svd",
             "cwd": "${workspaceRoot}"
         },
         {

Firmware/.vscode/settings.json

@@ -1,5 +1,4 @@
 {
-    "C_Cpp.clang_format_style": "{ BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 0 }",
     "C_Cpp.intelliSenseEngine": "Default",
     "C_Cpp.intelliSenseEngineFallback": "Disabled",
     "files.exclude": {