Clamp-Motor-Move

src/DCMotor.cpp

@@ -132,6 +132,9 @@ void DCMotor::move(float new_target) {
     setPhaseVoltage(voltage.q, 0.0f, 0.0f);
 };
 
+void DCMotor::setOutput(float voltage_target) {
+    setPhaseVoltage(voltage_target, 0.0f, 0.0f);
+}
 
 void DCMotor::setPhaseVoltage(float Uq, float Ud, float angle_el) {
     if (enabled==1)

src/DCMotor.h

@@ -48,6 +48,8 @@ class DCMotor : public FOCMotor {
      */
     void move(float new_target = NOT_SET) override;
 
+    void setOutput(float voltage_target = NOT_SET) override; //directly set the voltage on the output - used for setting it to zero
+
    /**
     * @param Uq Voltage to set to the motor
     * @param Ud ignored for DC motors

src/common/base_classes/FOCMotor.h

@@ -123,6 +123,8 @@ class FOCMotor
      */
     virtual void move(float target = NOT_SET)=0;
 
+    virtual void setOutput(float target = NOT_SET) = 0;
+
     /**
     * Method using FOC to set Uq to the motor at the optimal angle
     * Heart of the FOC algorithm