Merge pull request #641 from AzazKamaz/patch-fix-trap-traj-race-cond

Fix race condition in trap traj control
2026-08-18 18:04:12 +08:00 · 2021-11-20 13:10:10 -05:00
parent 0121ccf249 31e601ebed
commit 8ea766b972
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;