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Add MotionControlType::angle_nocascade support to DCMotor::move() #16

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Add MotionControlType::angle_nocascade support to DCMotor::move() #16

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7 changes: 7 additions & 0 deletions src/DCMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,13 @@ void DCMotor::move(float new_target) {
else
voltage.q = 0.0f; // TODO implement the other torque modes, and current control loop
break;
case MotionControlType::angle_nocascade:
// non-cascaded angle control: P_angle output goes directly to voltage
// (no inner velocity loop — mirrors FOCMotor implementation)
shaft_angle_sp = target;
voltage.q = P_angle(shaft_angle_sp - LPF_angle(shaft_angle));
voltage.q = _constrain(voltage.q, -voltage_limit, voltage_limit);
break;
case MotionControlType::angle:
// angle set point
// include angle loop
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