From db5fc4e02bbf97842afd2bf2b1cdcc040761c492 Mon Sep 17 00:00:00 2001
From: Lukas Kaul <LuSeKa@users.noreply.github.com>
Date: Wed, 22 May 2019 23:05:03 +0200
Subject: [PATCH] added GetVelocity()

reads estimated motor velocity from Arduino
---
 Arduino/ODriveArduino/ODriveArduino.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Arduino/ODriveArduino/ODriveArduino.cpp b/Arduino/ODriveArduino/ODriveArduino.cpp
index 00fce19a..3f4eab5a 100644
--- a/Arduino/ODriveArduino/ODriveArduino.cpp
+++ b/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();
 }