🐛 Fix vss wheel speed cliping

robocin · Mar 29, 2021 · b317028 · b317028
1 parent 2cd4a0b
commit b317028
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/vssrobot.cpp b/src/vssrobot.cpp
@@ -64,7 +64,7 @@ VSSRobot::Wheel::~Wheel() {
 void VSSRobot::Wheel::step()
 {
     auto sent_speed = std::max(std::min(this->desiredAngularSpeed, this->maxAngularSpeed), -this->maxAngularSpeed);
-    dJointSetAMotorParam(this->motor, dParamVel, this->desiredAngularSpeed);
+    dJointSetAMotorParam(this->motor, dParamVel, sent_speed);
     dJointSetAMotorParam(this->motor, dParamFMax, VSSConfig::Robot().getWheelMotorMaxTorque());
 }