Reset vel_integrator_current when going into closed loop mode

2026-09-21 23:44:48 +08:00 · 2019-08-29 20:24:09 -04:00
parent 2b901830d8
commit 4ad2fc60a8
1 changed files with 4 additions and 0 deletions
@@ -302,6 +302,10 @@ bool Axis::run_sensorless_control_loop() {
 bool Axis::run_closed_loop_control_loop() {
    // To avoid any transient on startup, we intialize the setpoint to be the current position
    controller_.pos_setpoint_ = encoder_.pos_estimate_;
+
+    // Avoid integrator windup issues
+    controller_.vel_integrator_current_ = 0.0f;
+    
    set_step_dir_active(config_.enable_step_dir);
    run_control_loop([this]() {
        // Note that all estimators are updated in the loop prefix in run_control_loop