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Change move_incremental to use input_pos

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Paul Guenette
2019-05-26 22:39:54 +02:00
parent d95d0bc283
commit a4cdac52b8
1 changed files with 6 additions and 4 deletions
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Firmware/MotorControl/controller.cpp
+6 -4
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@@ -41,12 +41,14 @@ void Controller::move_to_pos(float goal_point) {
goal_point_ = goal_point;
}
void Controller::move_incremental(float displacement, bool from_goal_point = true){
if(from_goal_point){
move_to_pos(goal_point_ + displacement);
void Controller::move_incremental(float displacement, bool from_input_pos = true){
if(from_input_pos){
input_pos_ += displacement;
} else{
move_to_pos(pos_setpoint_ + displacement);
input_pos_ = pos_setpoint_ + displacement;
}
input_pos_updated();
}
void Controller::start_anticogging_calibration() {