fMax is set not only in initialization but also in doSwtich.
Before this fix, the effort controller was not working if the initialization was done for position/velocity controllers. Similarly, if the initialization was done for the effort controller, position/velocity controllers were not working.
Before this fix, the effort controller was not working if the initialization was done for position/velocity controllers. Similarly, if the initialization was done for the effort controller, position/velocity controllers were not working.