disable brake

aenarete · Jul 25, 2024 · ae261af · ae261af
1 parent df2f19b
commit ae261af
Showing 1 changed file with 10 additions and 10 deletions.
diff --git a/src/torque_controlled_generator.jl b/src/torque_controlled_generator.jl
@@ -62,16 +62,16 @@ end
 
 function calc_acceleration(wm::TorqueControlledMachine, speed, force; set_torque=nothing, set_speed=nothing, use_brake = false)
     if use_brake
-        if abs(set_speed) < 0.9 * wm.v_min
-            wm.brake = true
-        elseif abs(set_speed) > 1.1 * wm.v_min
-            wm.brake = false
-        end
-        if wm.brake
-            # if the brake is active the acceleration proportional to the speed
-            # TODO: check if this is physically correct
-            return wm.brake_acc * speed
-        end
+        # if abs(set_speed) < 0.9 * wm.v_min
+        #     wm.brake = true
+        # elseif abs(set_speed) > 1.1 * wm.v_min
+        #     wm.brake = false
+        # end
+        # if wm.brake
+        #     # if the brake is active the acceleration proportional to the speed
+        #     # TODO: check if this is physically correct
+        #     return wm.brake_acc * speed
+        # end
     end
     # limit the acceleration
     if ! isnothing(set_speed)