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ale-git · Nov 22, 2024 · 940ed9a · 940ed9a
1 parent 20e7580
commit 940ed9a
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diff --git a/src/libYARP_dev/src/yarp/dev/ControlBoardHelper.cpp b/src/libYARP_dev/src/yarp/dev/ControlBoardHelper.cpp
@@ -929,6 +929,7 @@ double ControlBoardHelper::get_pidfeedback_conversion_factor_user2raw(const yarp
             switch (pidtype)
             {
                 case yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_POSITION: feedback_conversion_factor = mPriv->angleToEncoders[j];  break;
+                case yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_DIRECT: feedback_conversion_factor = mPriv->angleToEncoders[j];  break;
                 case yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_VELOCITY: feedback_conversion_factor = mPriv->angleToEncoders[j];  break;
                 case yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_TORQUE: feedback_conversion_factor = mPriv->newtonsToSensors[j];  break;
                 case yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_CURRENT: feedback_conversion_factor = mPriv->ampereToSensors[j];  break;

diff --git a/src/libYARP_dev/src/yarp/dev/PidEnums.h b/src/libYARP_dev/src/yarp/dev/PidEnums.h
@@ -16,6 +16,7 @@ enum YARP_dev_API PidControlTypeEnum
     VOCAB_PIDTYPE_POSITION = yarp::os::createVocab32('p', 'o', 's'),
     VOCAB_PIDTYPE_VELOCITY = yarp::os::createVocab32('v', 'e', 'l'),
     VOCAB_PIDTYPE_TORQUE = yarp::os::createVocab32('t', 'r', 'q'),
+    VOCAB_PIDTYPE_DIRECT = yarp::os::createVocab32('d', 'i', 'r'),
     VOCAB_PIDTYPE_CURRENT = yarp::os::createVocab32('c', 'u', 'r')
 };