I’m running into a issue where if I do the following:
- Move the axis in velocity control mode (ie set
- Execute a planned move (ie with
The axis seems to “undo” any move that was made in velocity control mode (at an extreme speed) before executing the planned move.
I’ve tried resetting the encoder count (with
encoder_.set_linear_count(0)) and resetting the controller (with
controller_.reset()) but they don’t appear to resolve the problem, rather make it worse.
Could I get some advice on how I can safely transition from velocity controlled mode into position controlled mode (