Merge pull request #44 from arduino-libraries/portenta_compatibility

aentinger · web-flow · commit f9c66edbee49 · 2022-12-30T08:32:24.000+01:00
Add compatibility to Portenta H7
diff --git a/examples/MKR/Test/Test.ino b/examples/MKR/Test/Test.ino
@@ -46,7 +46,7 @@ void setup() {
   // This way, you can program the motor to reach a certain position or velocity without any further intervention.
   // The PID can be carefully tuned if a particular profile is needed.
   pid1.setControlMode(CL_POSITION);
-  pid1.setGains(25, 0, 3);
+  pid1.setGains(25.0f, 0.0f, 3.0f);
   pid1.setMaxAcceleration(4000);
   pid1.setSetpoint(TARGET_POSITION, 5000);
 }
diff --git a/src/Common.h b/src/Common.h
@@ -14,6 +14,10 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
+#if defined(ARDUINO_PORTENTA_H7_M7) || defined(ARDUINO_PORTENTA_H7_M4)
+#define RESET _RESET
+#endif
+
 enum Commands {
   GET_VERSION = 0x01,
   RESET,

Original file line number	Diff line number	Diff line change
`@@ -46,7 +46,7 @@ void setup() {`
`46`	`46`	`// This way, you can program the motor to reach a certain position or velocity without any further intervention.`
`47`	`47`	`// The PID can be carefully tuned if a particular profile is needed.`
`48`	`48`	`pid1.setControlMode(CL_POSITION);`
`49`		`- pid1.setGains(25, 0, 3);`
	`49`	`+ pid1.setGains(25.0f, 0.0f, 3.0f);`
`50`	`50`	`pid1.setMaxAcceleration(4000);`
`51`	`51`	`pid1.setSetpoint(TARGET_POSITION, 5000);`
`52`	`52`	`}`