Odrive removed position reset on startup

Ultrawipf · Jun 9, 2024 · 54bd0a6 · 54bd0a6
1 parent edfbe5a
commit 54bd0a6
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/Firmware/FFBoard/UserExtensions/Src/ODriveCAN.cpp b/Firmware/FFBoard/UserExtensions/Src/ODriveCAN.cpp
@@ -171,7 +171,7 @@ void ODriveCAN::Run(){
 			// Odrive is active,
 			// enable torque mode
 			if(odriveCurrentState == ODriveState::AXIS_STATE_CLOSED_LOOP_CONTROL){
-				this->setPos(0);
+				//this->setPos(0);
 				setMode(ODriveControlMode::CONTROL_MODE_TORQUE_CONTROL, ODriveInputMode::INPUT_MODE_PASSTHROUGH);
 			}