Commit 6e03cfe7 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Modif stop()

parent ed4a8b3d
...@@ -495,19 +495,16 @@ return_type SystemBoltHardware::stop() ...@@ -495,19 +495,16 @@ return_type SystemBoltHardware::stop()
std::chrono::time_point<std::chrono::system_clock> last = std::chrono::system_clock::now(); std::chrono::time_point<std::chrono::system_clock> last = std::chrono::system_clock::now();
while (!robot_->IsTimeout()) { while (!robot_->IsTimeout()) {
if (((std::chrono::duration<double>)(std::chrono::system_clock::now()-last)).count() > 0.001) {
last = std::chrono::system_clock::now(); // last+dt would be better
t += dt;
for (const hardware_interface::ComponentInfo & joint : info_.joints) { last = std::chrono::system_clock::now(); // last+dt would be better
torques[joint_name_to_motor_nb_[joint.name]] = 0.0;
}
robot_->joints->SetTorques(torques); t += dt;
for (const hardware_interface::ComponentInfo & joint : info_.joints) {
torques[joint_name_to_motor_nb_[joint.name]] = 0.0;
} }
robot_->joints->SetTorques(torques);
robot_->SendCommand(); robot_->SendCommand();
} }
......
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