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Re: Question about human disable
If you're worried about the PID building up, you can disable your algorithm while the robot is disabled.
There is a bit called disabled_mode that is 0 of the robot is running and 1 if its disabled. If you want, you can tell the PID only to run if disabled_mode == 0, other wise, just leave it. This will keep your integral term from building up and making the arm be crazy.
Hope this helps.
-Tony K
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Horray for most things! -George Carlin
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