Merge pull request #2 from ponoor/develop

Added EL_POS functions
ponoor · Aug 31, 2021 · 27c711c · 27c711c
2 parents 1b4668e + 7ca4153
commit 27c711c
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diff --git a/src/Ponoor_L6470Commands.cpp b/src/Ponoor_L6470Commands.cpp
@@ -35,6 +35,14 @@ long AutoDriver::getPos()
   return temp;
 }
 
+// Returns the content of the EL_POS register, which is a 9-bit indicates the current 
+//  electrical position of the motor. 
+unsigned int AutoDriver::getElPos()
+{
+  unsigned int temp = getParam(EL_POS);
+  return temp;
+}
+
 // Just like getPos(), but for MARK.
 long AutoDriver::getMark()
 {
@@ -195,6 +203,12 @@ void AutoDriver::setPos(long newPos)
   setParam(ABS_POS, newPos);
 }
 
+void AutoDriver::setElPos(unsigned int newElPos)
+{
+  setParam(EL_POS, newElPos);
+}
+
+
 // Sets the ABS_POS register to 0, effectively declaring the current
 //  position to be "HOME".
 void AutoDriver::resetPos()

diff --git a/src/Ponoor_L6470Library.h b/src/Ponoor_L6470Library.h
@@ -84,6 +84,7 @@ class AutoDriver
 
     // ...and now, operational commands.
     long getPos();
+    unsigned int getElPos();
     long getMark();
     void run(byte dir, float stepsPerSec);
     void runRaw(byte dir, unsigned long integerSpeed);
@@ -98,6 +99,7 @@ class AutoDriver
     void goMark();
     void setMark(long newMark);
     void setPos(long newPos);
+    void setElPos(unsigned int newElPos);
     void resetPos();
     void resetDev();
     void softStop();