Package that provides a ROS interface for the motors in UbiquityRobotics robots
BSD 3-Clause "New" or "Revised" License
24
stars
23
forks
source link
When deadman timer kicks in the motor node needs to ramp down, not just hard stop #164
Open
mjstn opened 2 years ago
Hard stop due to deadman timer can and has been toppling robots in the field for deadman timer stops.
This is not an MCB issue and should be dealt with where logic for such things is above the raw MCB motor control.
This may mean the MCB deadman is set a bit longer then the motor node ramps in slowdown at the currently stated deadman timer interval.