Unverified Commit 6c4a8641 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #22 from NoelieRamuzat/devel

[Effort Mode] Add default PD controller when no control
parents 89297b15 5d4e2c66
......@@ -1089,6 +1089,12 @@ void RCSotController::update(const ros::Time &, const ros::Duration &period) {
ROS_ERROR_STREAM("RCSotController::update: " << e.what());
throw;
}
// But in effort mode it means that we are sending 0
// Therefore implements a default PD controller on the system.
// Applying both to handle mixed system.
localStandbyEffortControlMode(period);
localStandbyVelocityControlMode(period);
localStandbyPositionControlMode();
}
}
......
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