From f0172b24c86838aef2bce61b2af8b8a18f538a2c Mon Sep 17 00:00:00 2001
From: Pascal <engelerp@phys.ethz.ch>
Date: Tue, 13 Jun 2023 14:36:31 +0200
Subject: [PATCH] Added integral error reset setter
---
firmware/drivers/communicator/communicator.cpp | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/firmware/drivers/communicator/communicator.cpp b/firmware/drivers/communicator/communicator.cpp
index 7ff3c51..4241c31 100644
--- a/firmware/drivers/communicator/communicator.cpp
+++ b/firmware/drivers/communicator/communicator.cpp
@@ -127,7 +127,8 @@ bool Communicator::isSetCommand_(){
cmd_ == 'I' ||
cmd_ == 'D' ||
cmd_ == 'N' ||
- cmd_ == 'S';
+ cmd_ == 'S' ||
+ cmd_ == 'E';
}
bool Communicator::isGetCommand_(){
@@ -203,6 +204,12 @@ void Communicator::handleSetCommand_(){
sendBuf_();
return;
}
+ else if(cmd_ == 'E'){
+ Pid_controller::set_I_reset_errsq(darg);
+ snprintf(outbuf_, 255, ";");
+ sendBuf_();
+ return;
+ }
}
void Communicator::handleNopCommand_(){
--
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