Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-23 09:03:40 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Fix input_filter integration issues

Browse Source
This commit is contained in:
Paul Guenette
2019-05-25 14:07:44 +02:00
parent bfa4c154bc
commit 104e4413c9
4 changed files with 16 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/axis.cpp
+4 -1
View File
@@ -288,7 +288,10 @@ bool Axis::run_closed_loop_control_loop() {
if (homing_state_ == HOMING_STATE_HOMING) {
if (min_endstop_.getEndstopState()) {
encoder_.set_linear_count(min_endstop_.config_.offset);
controller_.set_pos_setpoint(0.0f, 0.0f, 0.0f);
controller_.pos_setpoint_ = 0.0f;
controller_.vel_setpoint_ = 0.0f;
controller_.current_setpoint_ = 0.0f;
controller_.config_.control_mode = Controller::CTRL_MODE_POSITION_CONTROL;
homing_state_ = HOMING_STATE_MOVE_TO_ZERO;
}
} else if (homing_state_ == HOMING_STATE_MOVE_TO_ZERO) {