From 54bd0a665e27662836d8e80374de8485dcccab58 Mon Sep 17 00:00:00 2001
From: Yannick Richter <git@y-richter.de>
Date: Mon, 8 Apr 2024 11:48:49 +0200
Subject: [PATCH] Odrive removed position reset on startup

---
 Firmware/FFBoard/UserExtensions/Src/ODriveCAN.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/FFBoard/UserExtensions/Src/ODriveCAN.cpp b/Firmware/FFBoard/UserExtensions/Src/ODriveCAN.cpp
index 92eb805c..8242e1d2 100644
--- 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);
 			}