From 421b2d0dc2e50dfc3d085197288f5e05c9d0bcfa Mon Sep 17 00:00:00 2001
From: Christian Dreher <c.dreher@kit.edu>
Date: Fri, 6 Sep 2024 17:00:16 +0200
Subject: [PATCH] Only apply limits if the joint is not a limitless joint
---
.../sensor_actor_unit/armar7de/joint_controller/Velocity.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/source/devices/ethercat/sensor_actor_unit/armar7de/joint_controller/Velocity.cpp b/source/devices/ethercat/sensor_actor_unit/armar7de/joint_controller/Velocity.cpp
index 6e67c6be..319b62bb 100644
--- a/source/devices/ethercat/sensor_actor_unit/armar7de/joint_controller/Velocity.cpp
+++ b/source/devices/ethercat/sensor_actor_unit/armar7de/joint_controller/Velocity.cpp
@@ -95,14 +95,14 @@ namespace devices::ethercat::sensor_actor_unit::armar7de::joint_controller
bool const inAnyLimits = inSoftLimits or inHardLimits;
// If we reached any limit, we set the velocity to zero.
- if (inAnyLimits)
+ if (inAnyLimits and not limitless)
{
newVel = 0;
}
// If the target is in the soft limits, but not yet in the hard limits, we set a low
// deceleration for a slow braking behavior.
- if (inSoftLimits and not inHardLimits)
+ if (inSoftLimits and not inHardLimits and not limitless)
{
dataPtr->setTargetDeceleration(25'000);
}
--
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