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Commit 421b2d0d authored by Christian Dreher's avatar Christian Dreher
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Only apply limits if the joint is not a limitless joint

parent 64cbc54c
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......@@ -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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