Commit d3168e6e authored by Joseph Mirabel's avatar Joseph Mirabel Committed by olivier stasse
Browse files

Set sensor values when dynamic graph isn't started.

parent e79573ee
......@@ -1202,6 +1202,16 @@ namespace sot_controller
}
else
{
/// Update the sensors.
fillSensors();
/// Generate a control law.
try
{
sotController_->nominalSetSensors(sensorsIn_);
}
catch(std::exception &e) { throw e;}
// 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.
......
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