2020-02-13, 09:30 PM
Regarding sanity checking: You are right. Most of the stuff get’s sanity checked. I should take that back.
In my version, and I don’t remember if your’s does that same, a steering command still starts to be executed even if min or max is already reached. It stops immediately, but some of the motion is done. In my case, that means the hydraulic pump as well as the hydraulic cylinder runs against a wall and get’s slightly stuck. I can drive put of that, though, but it means an improperly tuned controller runs into the wall all the time.. I want to change that to not allow any motion into an already maxed out direction.
In my version, and I don’t remember if your’s does that same, a steering command still starts to be executed even if min or max is already reached. It stops immediately, but some of the motion is done. In my case, that means the hydraulic pump as well as the hydraulic cylinder runs against a wall and get’s slightly stuck. I can drive put of that, though, but it means an improperly tuned controller runs into the wall all the time.. I want to change that to not allow any motion into an already maxed out direction.