Actuator commanded velocity clearance after a fault

[davidinkyu-kim]

• Issue
  • After an actuator faults, cmd_velocity on the motor controller remains last commanded velocity and does not get resetted from Reset() command. Therefore, any consequent profiled command would generate a profile starting from residual commanded velocity, causing an actuator to move in undesired way
• Suggested solution
  • Generate a profile with initial velocity of "actual velocity"

[alex-brinkman]

I recommend the solution where we se the commanded pos/vel/current values to zero upon a fault.

[davidinkyu-kim]

Agreed, will be handled here: https://github.com/nasa-jpl/fastcat/pull/73