yikestone/ros_arduino_bridge
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Added call to resetPID() when robot speed is 0. This eliminates hysteresis from the robot motion.

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Patrick Goebel 2016-04-18 16:29:04 -07:00
parent cbbc0d6e8a
commit 9231e6c8bd
1 changed files with 1 additions and 0 deletions
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ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
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@ -208,6 +208,7 @@ 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;