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DAIRLab / dairlib

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adding a check to make sure we are not sending NaN in our motor commands #239

Closed yangwill closed 3 years ago

yangwill commented 3 years ago

On April 14, we noticed that it is possible to forward NaN motor commands through the input supervisor, resulting in undesirable behavior on Cassie. This change triggers the soft-estop if any value in the motor commands is NaN.

We shouldn't be sending NaNs from our controllers anyway, but this acts as another safety check.

I also made minor refactoring to input supervisor to improve readability, open to feedback.

This change is Reviewable

yangwill commented 3 years ago

Updated it so that sending a NaN motor command triggers an error and sets the motor commands to 0.