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Force position control when using ASCII t command

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2020-07-08 22:18:19 -04:00
parent 28e54e2655
commit 0ee6c92cea
1 changed files with 1 additions and 0 deletions
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Firmware/communication/ascii_protocol.cpp
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@@ -176,6 +176,7 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
} else {
Axis* axis = axes[motor_number];
axis->controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
axis->controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
axis->controller_.input_pos_ = goal_point;
axis->controller_.input_pos_updated();
axis->watchdog_feed();