Optionally force the position to be a fixed value

mjbots · Apr 20, 2021 · d79d7ee · d79d7ee
1 parent 980f317
commit d79d7ee
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Showing 2 changed files with 6 additions and 0 deletions.
diff --git a/fw/bldc_servo.cc b/fw/bldc_servo.cc
@@ -1592,6 +1592,10 @@ class BldcServo::Impl {
     } else {
       status_.position = status_.position_unfilt;
     }
+
+    if (config_.encoder_filter.debug_override >= 0) {
+      status_.position = config_.encoder_filter.debug_override;
+    }
   }
 
   void ISR_DoPositionCommon(

diff --git a/fw/bldc_servo.h b/fw/bldc_servo.h
@@ -197,12 +197,14 @@ class BldcServo {
       bool enabled = false;
       float kp = 0.0f;
       float ki = 0.0f;
+      int32_t debug_override = -1;
 
       template <typename Archive>
       void Serialize(Archive* a) {
         a->Visit(MJ_NVP(enabled));
         a->Visit(MJ_NVP(kp));
         a->Visit(MJ_NVP(ki));
+        a->Visit(MJ_NVP(debug_override));
       }
     };
     EncoderFilter encoder_filter;