From 5bffe9ece9ffda17840d673f6c891829c48f9d05 Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Wed, 31 Oct 2018 10:21:02 +0100
Subject: [PATCH] Revert "VelocityControllerHelper: make use of new robotunit
function to remove and delete controllers"
This reverts commit a3e0c32aaf173c284e2d73052dd1796f744d8e6e.
---
.../VelocityControllerHelper.cpp | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
index c062e9509..82caa5746 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
@@ -79,5 +79,13 @@ void VelocityControllerHelper::setNullSpaceControl(bool enabled)
void VelocityControllerHelper::cleanup()
{
- controller->deactivateAndDeleteController();
+ controller->deactivateController();
+ if (controllerCreated)
+ {
+ while (controller->isControllerActive())
+ {
+ TimeUtil::SleepMS(1);
+ }
+ controller->deleteController();
+ }
}
--
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