Open stephane-caron opened 1 year ago
When the spine is in neither of the following three states:
Then Spine::cycle_actuation will send the previous command:
Spine::cycle_actuation
if (state_machine_.state() == State::kSendStops || state_machine_.state() == State::kShutdown) { write_stop_commands(actuation_.commands()); } else if (state_machine_.state() == State::kAct) { Dictionary& action = dict_("action"); write_position_commands(actuation_.commands(), actuation_.servo_joint_map(), action); } else { // TODO(scaron): clear commands, otherwise the previous ones will be // sent again! }
This is OK for stop commands, but not OK for infrequent position commands.
Escalating this issue in light of https://github.com/tasts-robots/upkie_locomotion/pull/29
When the spine is in neither of the following three states:
Then
Spine::cycle_actuation
will send the previous command:This is OK for stop commands, but not OK for infrequent position commands.