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change of atTarget handling #53

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2 tasks
kivel opened this issue Mar 17, 2022 · 0 comments
Open
2 tasks

change of atTarget handling #53

kivel opened this issue Mar 17, 2022 · 0 comments

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@kivel
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kivel commented Mar 17, 2022

Current situation

The atTarget-flag of the axis is set to true even when the axis was stopped by a limit switch. Thus, not reaching the desired target.
Also, the setpoint is synced to the readback after ramping to standstill, which is not desired.

requested changes

  • set atTarget only when the actual target is reached
  • prevent setpoint from synching to actualPosition when stopped by limit switch.
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@kivel