From da68c176cf34d7cdcd48dfff67489474f38e174e Mon Sep 17 00:00:00 2001
From: Markus Grotz <Markus Grotz markus.grotz@kit.edu>
Date: Wed, 30 Sep 2020 14:29:23 +0200
Subject: [PATCH] soft emergency stop can now be deactivated with gamepad
controller
---
.../components/GamepadControlUnit/GamepadControlUnit.cpp | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
index b7d21d33b..22ff30654 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
@@ -76,6 +76,11 @@ namespace armarx
if (data.leftTrigger > 0)
{
emergencyStop->setEmergencyStopState(EmergencyStopState::eEmergencyStopActive);
+ return;
+ }
+ else if (data.startButton)
+ {
+ emergencyStop->setEmergencyStopState(EmergencyStopState::eEmergencyStopInactive);
}
//scales are for the robot axis
if (data.rightTrigger > 0)
--
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