From 055792ef5044ceb0a0d806396487af1ad9e40a15 Mon Sep 17 00:00:00 2001 From: Comerm28 Date: Tue, 17 Sep 2024 19:54:53 -0400 Subject: [PATCH] current status with some testing --- lib/systems/include/TorqueControllerMux.tpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/lib/systems/include/TorqueControllerMux.tpp b/lib/systems/include/TorqueControllerMux.tpp index 60825ad71..406ff17b7 100644 --- a/lib/systems/include/TorqueControllerMux.tpp +++ b/lib/systems/include/TorqueControllerMux.tpp @@ -52,10 +52,12 @@ DrivetrainCommand_s TorqueControllerMux::getDrivetrainCommand(C current_status_.current_torque_limit_value = torque_limit_map_[requested_torque_limit]; current_output.command = apply_power_limit_(current_output.command, input_state.drivetrain_data, max_power_limit_, torque_limit_map_[requested_torque_limit]); current_output.command = apply_positive_speed_limit_(current_output.command); + current_status_.output_is_bypassing_limits = false; } else{ current_status_.current_torque_limit_enum = TorqueLimit_e::TCMUX_FULL_TORQUE; current_status_.current_torque_limit_value= PhysicalParameters::AMK_MAX_TORQUE; + current_status_.output_is_bypassing_limits = true; } // std::cout << "output torques before return " << current_output.command.torqueSetpoints[0] << " " << current_output.command.torqueSetpoints[1] << " " << current_output.command.torqueSetpoints[2] << " " << current_output.command.torqueSetpoints[3] << std::endl;