Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-20 22:14:34 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Fixed possible race-condition

Browse Source 
#550
This commit is contained in:
riewert
2021-05-04 21:18:40 -04:00
committed by PAJohnson
parent ac6c565b30
commit 03e590ae44
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/axis.cpp
+3 -3
View File
@@ -395,13 +395,13 @@ bool Axis::run_homing() {
error_ &= ~ERROR_MIN_ENDSTOP_PRESSED; // clear this error since we deliberately drove into the endstop
if (encoder_.pos_estimate_.any() == std::nullopt || !encoder_.pos_estimate_.any().has_value()){
std::optional<float> pos_estimate_local = encoder_.pos_estimate_.any();
if (pos_estimate_local == std::nullopt || !pos_estimate_local.has_value()){
return error_ |= ERROR_UNKNOWN_POSITION, false;
}
// Calculate the desired position after offset.
float input_buffer = encoder_.pos_estimate_.any().value() + min_endstop_.config_.offset;
float input_buffer = pos_estimate_local.value() + min_endstop_.config_.offset;
controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;