Quote:
Originally Posted by Tom Line
Ok, this brings up another question I've been thinking about.
Greg, if a speed has not changed from the last loop, is there any reason to call the set speed command? Will not calling it result in a watchdog?
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I'm not Greg, but I know the answer. If a motor has its Motor Safety watchpup enabled, you must continue to set it at least as often as the safety configuration requires. Drive motors have the safety period set at 100 milliseconds. Other motors have the safety disabled by default. If you let a motor's safety timeout elapse without setting its output, that motor will be shut off.
If a motor's safety feature is not enabled, it will keep its last commanded output value indefinitely. That includes switching from autonomous to teleoperated mode (or vice versa, which can happen during testing), so you should make sure your motors are initialized to something reasonable when such things happen.