mikeferguson
commented
5 months ago - use upstream SmoothControlLaw
- parameterize the control law parameters
- get rid of extra controller classes - keeping this a bit simpler for now
- cleanup parameters
- Undock: allow cancel/preempt to work even if disableCharging is blocking
- Test: update the test to publish that we aren't charging during undock
- Test: actually check the return codes to make sure we get what we want