Merge branch 'master' into devel

2026-09-27 22:38:10 +08:00 · 2021-11-20 13:12:14 -05:00
parent 86ff244b20 8ea766b972
commit fbb9dd4a9a
8 changed files with 29 additions and 5 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;