To prevent continuous application of duty even when reaching the upper or lower limits, add a safety function based on a limit detection signal from an external sensor.
Purpose
Implementation Details
External sensor can only detect reaching a limit. And always send std_msgs/Bool message.
If a duty is given to move further up when the upper limit is reached, the duty will be set to 0. The same will be done if the lower limit is reached.
After the controller's command has converged, if the command is close to the limit, the current position will be reset, and the system will return to normal operation. However, if the command value deviates significantly, the system will be terminated.
Abstract
To prevent continuous application of duty even when reaching the upper or lower limits, add a safety function based on a limit detection signal from an external sensor.
Purpose
Implementation Details
std_msgs/Boolmessage.