Fix Servo suddenHalt() to halt at original state, not commanded
#2229
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sea-bass
changed the title
suddenHalt() to halt at previous state, not current
sea-bass
changed the title
suddenHalt() to halt at previous state, not currentsuddenHalt() to halt at original state, not commanded
tylerjw
approved these changes
Jun 6, 2023
AndyZe
approved these changes
Jun 6, 2023
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Found this bug against MoveIt Studio, where hitting a joint limit would make the arm continue moving since we were grabbing
internal_joint_state_and notprevious_joint_state_for thesuddenHalt()function.Even the comment a few lines above says: