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nasa-jpl / fastcat

C++ EtherCAT Device Command & Control Library
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Add brake delay to Actuator Profiled pos/vel/torque commands #55

Closed alex-brinkman closed 2 years ago

alex-brinkman commented 2 years ago

Currently, the motion profiler does not respect the brake status and will begin dispatching motion profile commands immediately. For long-duration brake disengagements, this can cause issues or even position tracking faults.

The logic should go something like:

while `servo_enabled` is false:
  Command CS* command to current position to trigger brake disengagement

Now, the brake is disengaged since `servo_enabled` is true so start motion profile
alex-brinkman commented 2 years ago

Result with fix in place: image