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When the spine is in neither of the following three states:
Then Spine::cycle_actuation will send the previous command:
Spine::cycle_actuation
if (state_machine_.state() == State::kSendStops || state_machine_.state() == State::kShutdown) { write_stop_commands(actuation_.commands()); } else if (state_machine_.state() == State::kAct) { Dictionary& action = dict_("action"); write_position_commands(actuation_.commands(), actuation_.servo_joint_map(), action); } else { // TODO(scaron): clear commands, otherwise the previous ones will be // sent again! }
This is OK for stop commands, but not OK for infrequent position commands.
The text was updated successfully, but these errors were encountered:
Escalating this issue in light of #29
Sorry, something went wrong.
Prepare for https://github.com/tasts-robots/vulp/issues/2
3d388d6
16a783a
Move TODO to https://github.com/upkie/vulp/issues/2
cdd0194
Same rationale as the preceding commit.
6d3d51e
stephane-caron
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When the spine is in neither of the following three states:
Then
Spine::cycle_actuation
will send the previous command:This is OK for stop commands, but not OK for infrequent position commands.
The text was updated successfully, but these errors were encountered: