From 9231e6c8bd2a5d1124af6b77db8270d76c803ac9 Mon Sep 17 00:00:00 2001
From: Patrick Goebel <patrick@pirobot.org>
Date: Mon, 18 Apr 2016 16:29:04 -0700
Subject: [PATCH] Added call to resetPID() when robot speed is 0.  This
 eliminates hysteresis from the robot motion.

---
 .../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 5de3726..9eb8e21 100644
--- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
@@ -208,6 +208,7 @@ int runCommand() {
     lastMotorCommand = millis();
     if (arg1 == 0 && arg2 == 0) {
       setMotorSpeeds(0, 0);
+      resetPID();
       moving = 0;
     }
     else moving = 1;