calibration duty lower than 0.1 speeds up instead

[jsupratman13]

Abstract

When using position controller, low calibration_duty value means the motor will rotate slowly during the initial calibration while high value means the motor will rotate faster. However, when setting calibration_duty value lower than 0.1, the motor instead rotate at full speed. In random probability, the motor will sometimes oscillate back to home position after rotating at full speed but the program never indicates that the calibration is finished.

How to Reproduce the Bug

https://github.com/sbgisen/vesc/blob/3d25c6a61d7cd14c673efe7412cbccd8afb7cad5/vesc_hw_interface/launch/position_control_sample.launch#L7-L17 In the rosparam above, add the following parameters:

servo/calibration_mode: duty
servo/calibration_duty: 0.01

Setting the calibration_duty lower than 0.1 will do the job.

Problem due to the Bug

Factors

Suggestion

[jsupratman13]

closing due to misunderstanding