Allan Veale / LCM101

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Dependents:   heros_leg_readout_torque_addition heros_leg_readout_torque_addition_V3

Fork of LCM101 by K K

Files at this revision

API Documentation at this revision

Revision 3:22f8cfcad8d6, committed 2018-10-12

Comitter:
cnckiwi31
Date:
Fri Oct 12 12:09:59 2018 +0000
Parent:
2:77cffacfd89e
Child:
4:f7af875abe50
Commit message:
current on 12-10-2018

Changed in this revision

lcm101.h Show annotated file Show diff for this revision Revisions of this file 
--- a/lcm101.h	Tue Jun 05 08:48:06 2018 +0000
+++ b/lcm101.h	Fri Oct 12 12:09:59 2018 +0000
@@ -41,6 +41,15 @@
     }
     
     /**
+     * sets force scaling offset so that current output is force zero
+     */
+    void nullForce()
+    {
+        kOffset_ = kOffset_ - getForce();
+        return;        
+    }
+    
+    /**
      * @return ffset of analog value
      */
     float get_offset() { return kOffset_; }
@@ -54,7 +63,7 @@
 private:
     AnalogIn analog_in_;
     
-    const float kOffset_;
+    float kOffset_;
     const float kFactor_;
 };