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Merge branch 'rc-v0.5.0' into devel

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This commit is contained in:
Oskar Weigl
2020-08-03 20:16:51 -07:00
parent bf15485b3d 48449f2348
commit 3760c7bc84
7 changed files with 23 additions and 11 deletions
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Firmware/MotorControl/axis.cpp
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@@ -336,6 +336,7 @@ bool Axis::run_closed_loop_control_loop() {
controller_.input_pos_ = *controller_.pos_estimate_linear_src_;
}
}
controller_.input_pos_updated();
// Avoid integrator windup issues
controller_.vel_integrator_torque_ = 0.0f;