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Fixed spinout error reset on odrive.clear_errors()

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This commit is contained in:
PAJohnson
2021-04-29 23:01:44 -04:00
parent a7bed2074c
commit 2622f4d8eb
2 changed files with 3 additions and 2 deletions
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Firmware/MotorControl/controller.cpp
+2 -2
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@@ -13,6 +13,8 @@ void Controller::reset() {
vel_setpoint_ = 0.0f;
vel_integrator_torque_ = 0.0f;
torque_setpoint_ = 0.0f;
mechanical_power_ = 0.0f;
electrical_power_ = 0.0f;
}
void Controller::set_error(Error error) {
@@ -352,8 +354,6 @@ bool Controller::update() {
if (mechanical_power_ < 0 && electrical_power_ > config_.spinout_power_margin) {
axis_->encoder_.error_ |= Encoder::ERROR_INCORRECT_OFFSET;
set_error(ERROR_NONE);
electrical_power_ = 0.0f;
mechanical_power_ = 0.0f;
return false;
}