Fix race condition in trap traj control

2026-09-22 16:14:37 +08:00 · 2021-11-02 15:23:42 +03:00
parent 36ae22c462
commit 31e601ebed
1 changed files with 1 additions and 1 deletions
@@ -209,7 +209,7 @@ bool Controller::update() {
            if (axis_->trap_traj_.t_ > axis_->trap_traj_.Tf_) {
                // Drop into position control mode when done to avoid problems on loop counter delta overflow
                config_.control_mode = CONTROL_MODE_POSITION_CONTROL;
-                pos_setpoint_ = input_pos_;
+                pos_setpoint_ = axis_->trap_traj_.Xf_;
                vel_setpoint_ = 0.0f;
                torque_setpoint_ = 0.0f;
                trajectory_done_ = true;