fix(motor-control): do not enable motor when receives a zero-length move #721
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fsinapi
reviewed
Sep 15, 2023
| @@ -73,7 +73,7 @@ class MotionController { | |||
| .seq_id = can_msg.seq_id, | |||
| .stop_condition = can_msg.request_stop_condition, | |||
| .usage_key = hardware.get_usage_eeprom_config().get_distance_key()}; | |||
| if (!enabled) { | |||
| if (!enabled && velocity_steps != 0) { | |||
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Would also want to check acceleration_steps != 0, otherwise the motor won't get enabled for a move step that accelerates from 0
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I don't know that I agree with this. I think the common case is that we do want these motors enabled so that if the machine rocks around or something they won't move. We do actually have a good way to keep these axes disabled: don't send the moves to them. I think if there's cases where we want the motors to not enable if they're not moving, python should trim out the |
ahiuchingau
deleted the
mc_do-not-enable-motor-if-move-has-zero-velocity
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We shouldn't need to to engage the motors when we're not planning on moving them.
This might cause a lot of weird motor position errors so... gonna keep this as a draft as i do more testing and add more logic on the python side to handle this better.