fix idiocy

kscalelabs · Nov 11, 2024 · 5fa8c05 · 5fa8c05
1 parent 9475756
commit 5fa8c05
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Showing 2 changed files with 16 additions and 16 deletions.
diff --git a/actuator/robstride/src/config.rs b/actuator/robstride/src/config.rs
@@ -34,7 +34,7 @@ lazy_static! {
                 kp_max: 500.0,
                 kd_min: 0.0,
                 kd_max: 5.0,
-                t_min: 0.0,
+                t_min: -14.0,
                 t_max: 14.0,
                 zero_on_init: false,
                 can_timeout_command: 0x200b, // Unchecked
@@ -52,7 +52,7 @@ lazy_static! {
                 kp_max: 500.0,
                 kd_min: 0.0,
                 kd_max: 5.0,
-                t_min: 0.0,
+                t_min: -12.0,
                 t_max: 12.0,
                 zero_on_init: true, // Single encoder motor.
                 can_timeout_command: 0x200c,
@@ -70,7 +70,7 @@ lazy_static! {
                 kp_max: 500.0,
                 kd_min: 0.0,
                 kd_max: 5.0,
-                t_min: 0.0,
+                t_min: -12.0,
                 t_max: 12.0,
                 zero_on_init: false,
                 can_timeout_command: 0x200b, // Unchecked
@@ -88,7 +88,7 @@ lazy_static! {
                 kp_max: 5000.0,
                 kd_min: 0.0,
                 kd_max: 100.0,
-                t_min: 0.0,
+                t_min: -60.0,
                 t_max: 60.0,
                 zero_on_init: false,
                 can_timeout_command: 0x200b,
@@ -106,7 +106,7 @@ lazy_static! {
                 kp_max: 5000.0,
                 kd_min: 0.0,
                 kd_max: 100.0,
-                t_min: 0.0,
+                t_min: -120.0,
                 t_max: 120.0,
                 zero_on_init: false,
                 can_timeout_command: 0x200b,

diff --git a/actuator/robstride/src/supervisor.rs b/actuator/robstride/src/supervisor.rs
@@ -158,17 +158,17 @@ impl MotorsSupervisor {
                     }
                 }
 
-                // {
-                //     // Send updated sdo parameters to motors that need them.
-                //     let mut motors_to_set_sdo = motors_to_set_sdo.lock().unwrap();
-                //     if !motors_to_set_sdo.is_empty() {
-                //         for (motor_id, params) in motors_to_set_sdo.iter_mut() {
-                //             motors.set_torque_limit(*motor_id, params.torque_limit).unwrap();
-                //             // Any other sdo parameters can be updated here.
-                //         }
-                //         motors_to_set_sdo.clear();
-                //     }
-                // }
+                {
+                    // Send updated sdo parameters to motors that need them.
+                    let mut motors_to_set_sdo = motors_to_set_sdo.lock().unwrap();
+                    if !motors_to_set_sdo.is_empty() {
+                        for (motor_id, params) in motors_to_set_sdo.iter_mut() {
+                            motors.set_torque_limit(*motor_id, params.torque_limit).unwrap();
+                            // Any other sdo parameters can be updated here.
+                        }
+                        motors_to_set_sdo.clear();
+                    }
+                }
 
                 {
                     let params_copy = {