From 2c9881552bc939fc4231328ebc148ebbc2530ba1 Mon Sep 17 00:00:00 2001
From: Kristof Robot <krirobo@gmail.com>
Date: Fri, 16 Aug 2013 15:04:33 +0200
Subject: [PATCH] Bugfix: added resetPID() call in RESET_ENCODERS statement, to
 ensure that PID gets reset when encoders get reset.

---
 .../src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino          | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
index dd9a8f8..77322d2 100644
--- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
@@ -197,6 +197,7 @@ int runCommand() {
     break;
    case RESET_ENCODERS:
     resetEncoders();
+    resetPID();
     Serial.println("OK");
     break;
   case MOTOR_SPEEDS: