From 5a203e976b9773431f2b375d5aea44c2c134999c Mon Sep 17 00:00:00 2001 From: Kevin Siegall Date: Thu, 17 Jul 2025 15:33:26 -0400 Subject: [PATCH] Clear speed controller history when set_speed is 0 --- XRPLib/encoded_motor.py | 1 + 1 file changed, 1 insertion(+) diff --git a/XRPLib/encoded_motor.py b/XRPLib/encoded_motor.py index de2fa6f..78bafc5 100644 --- a/XRPLib/encoded_motor.py +++ b/XRPLib/encoded_motor.py @@ -164,6 +164,7 @@ def set_speed(self, speed_rpm: float = None): if speed_rpm is None or speed_rpm == 0: self.target_speed = None self.set_effort(0) + self.speedController.clear_history() return # Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz) self.target_speed = speed_rpm*self._encoder.resolution/(60*50)