From 51851b12ffd9c5386c4b2869a108fb906c1c04c0 Mon Sep 17 00:00:00 2001
From: alokthakrar-eng <143457571+alokthakrar-eng@users.noreply.github.com>
Date: Wed, 6 Dec 2023 14:58:33 -0800
Subject: [PATCH] add circ pos method

was trying to add a filtered pos control method. but it already is here! adding this method because circ pos control is the only control mode that this lib doesn't currently have :)
---
 src/dpea_odrive/odrive_helpers.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/dpea_odrive/odrive_helpers.py b/src/dpea_odrive/odrive_helpers.py
index 501d120..0882064 100644
--- a/src/dpea_odrive/odrive_helpers.py
+++ b/src/dpea_odrive/odrive_helpers.py
@@ -259,3 +259,5 @@ def home_without_endstop(self, vel, offset):
         sleep(3)  # allows motor to start moving to offset position
         self.wait_for_motor_to_stop()
         self.set_home()
+    def toggle_circ_pos(self):
+        self.axis.controller.config.circular_setpoints = not self.axis.controller.config.circular_setpoints