feat: Allow value 0 for acceleration limit as discussed in #10

2b-t · Jun 29, 2024 · 3fb228a · 3fb228a
1 parent 9880083
commit 3fb228a
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diff --git a/include/myactuator_rmd/actuator_interface.hpp b/include/myactuator_rmd/actuator_interface.hpp
@@ -294,6 +294,8 @@ namespace myactuator_rmd {
        * 
        * \param[in] acceleration
        *    The desired acceleration/deceleration in dps with a resolution of 1 dps/s [100, 60000]
+       *    For continuous motions the acceleration should be set to the value 0, see 
+       *    https://github.com/2b-t/myactuator_rmd/issues/10#issuecomment-2195847459
        * \param[in] mode
        *    The mode of the desired acceleration/deceleration to be set
       */

diff --git a/src/protocol/requests.cpp b/src/protocol/requests.cpp
@@ -36,7 +36,7 @@ namespace myactuator_rmd {
 
   SetAccelerationRequest::SetAccelerationRequest(std::uint32_t const acceleration, AccelerationType const mode)
   : SingleMotorRequest{} {
-    if ((acceleration < 100) || (acceleration > 60000)) {
+    if ((acceleration != 0) && ((acceleration < 100) || (acceleration > 60000))) {
       throw ValueRangeException("Acceleration value '" + std::to_string(acceleration) + "' out of range [100, 60000]");
     }
     auto const acceleration_type {static_cast<std::uint8_t>(mode)};