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Added resetPID() call when robot velocities are 0 to fix motion perserverance bug

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This commit is contained in:
Patrick Goebel 2016-04-18 06:30:15 -07:00
parent d03061ae60
commit 2b4567ec08
2 changed files with 2 additions and 1 deletions
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ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
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@ -316,6 +316,7 @@ int runCommand() {
lastMotorCommand = millis(); lastMotorCommand = millis();
if (arg1 == 0 && arg2 == 0) { if (arg1 == 0 && arg2 == 0) {
setMotorSpeeds(0, 0); setMotorSpeeds(0, 0);
resetPID();
moving = 0; moving = 0;
} }
else moving = 1; else moving = 1;