Fix race condition in homing behaviour #710
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samuelsadok
reviewed
Sep 6, 2022
| controller_.config_.control_mode = stored_control_mode; | ||
| controller_.config_.input_mode = stored_input_mode; | ||
| // Force encoder estimate to update | ||
| osDelay(1); |
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We have wait_for_control_iteration() which would be fitting here
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Since this is legacy homing and it was tested with osDelay, I think I'd rather just keep it
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Sets
input_posandpos_setpoint= 0.0 after moving to the final homed positionAdd a 1ms delay to after
set_linear_count(0)to allowpos_estimateto update so that we don't resetinput_poswhen transitioning back into closed loopAdd to change log
Tested by user with industrial robot with optical homing switches.
