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fix(controller): Stop holds position instead of writing the max-speed sentinel - #54
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Nick Hehr (HipsterBrown) wants to merge 1 commit into
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…he max-speed sentinel Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_0143XEcQfbDcub9vusPR8zP7
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Follow-up from #48.
Goal_Velocity = 0is the max-speed sentinel, so the oldStopdid not stop a mid-move servo.controller.Stop(ctx, ids)readsPresent_Positionand writes it back toGoal_Position: one SyncRead, one SyncWrite, goal register only (Speed/Acc untouched). A failed read is an error; nothing is written.SyncReadwaits on every ID, so an arm-only bus would otherwise never stop.arm.Stoppasses servos 1–5;StopServo(gripperservo_stop) delegates to it.CalibratedServo.SetVelocityremoved (no callers).Not yet verified on hardware. Needed before undrafting: stop a paced move, a streamed trajectory, and a gripper move mid-travel; watch the shoulder-lift joint for ringing on the hold.
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https://claude.ai/code/session_0143XEcQfbDcub9vusPR8zP7