Axis idle on shutdown #31
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samuelsadok
reviewed
Nov 6, 2024
odrive_node/src/odrive_can_node.cpp
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| struct can_frame frame; | ||
| frame.can_id = node_id_ << 5 | CmdId::kSetAxisState; | ||
| { | ||
| std::unique_lock<std::mutex> guard(axis_state_mutex_); |
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the mutex was there to guard access to the axis_state_ variable. However since you're using a const here instead, you can remove the lock.
odrive_node/src/odrive_can_node.cpp
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| @@ -49,6 +51,17 @@ ODriveCanNode::ODriveCanNode(const std::string& node_name) : rclcpp::Node(node_n | |||
| } | |||
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| void ODriveCanNode::deinit() { | |||
| if(axis_idle_on_shutdown_) { | |||
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@samuelsadok
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thanks! |
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Related issue: #30.
I tested the ODrive S1. After switching to CLOSED_LOOP, I terminated the node. I confirmed that it changed to IDLE.