Adds new brake axis state and an optional fallthrough on watchdog timeout #652
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… watchdog timeout
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Hi Jonas, thanks for the PR. Do you have test data you can share? |
| //controller_.config_.control_mode = Controller::CONTROL_MODE_VELOCITY_CONTROL; | ||
| //controller_.config_.input_mode = Controller::INPUT_MODE_PASSTHROUGH; | ||
| //controller_.input_vel_ = 0; |
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Please remove commented code
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Is there anything in this PR to prevent spurious communications from fighting with the watchdog for control of the axis? |
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| while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_) { | ||
| controller_.config_.control_mode = Controller::CONTROL_MODE_VELOCITY_CONTROL; | ||
| controller_.input_vel_ = 0.0f; |
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What if the axis isn't in in INPUT_MODE_PASSTHROUGH?
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I would say it's better to avoid a new state that is the same as closed loop control just with some overrides in the inputs. I would suggest to instead just override the inputs directly right before the "update inputs" section of controller.cpp |
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This PR should be refactored and made to fix #704 |
This adds a new axis state
AXIS_STATE_BRAKEthat is the same as closed loop control with forced velocity control & zero velocity input. The main purpose of this new state is to allow a defined axis state that we can safely fallback to in case of a watchdog timeout. A new axis configurationenable_brake_state_fallthrough_on_watchdog_timeoutcontrols this behavior. This fallthrough is a useful safety feature for wheeled robots that may encounter a state where the controlling node disappears and a watchdog timeout is triggered to keep the wheeled robot from rolling down an incline uncontrolled in idle mode.