Modify value.

rm-controls · Aug 3, 2024 · c7654c5 · c7654c5
1 parent cc894d1
commit c7654c5
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/rm_shooter_controllers/src/standard.cpp b/rm_shooter_controllers/src/standard.cpp
@@ -275,7 +275,7 @@ void Controller::normalize()
 {
   double push_angle = 2. * M_PI / static_cast<double>(push_per_rotation_);
   if (cmd_.hz >= freq_threshold_)
-    ctrl_trigger_.setCommand(push_angle * std::floor((ctrl_trigger_.joint_.getPosition() + 0.01) / push_angle));
+    ctrl_trigger_.setCommand(push_angle * std::floor(ctrl_trigger_.joint_.getPosition() / push_angle));
   else
     ctrl_trigger_.setCommand(
         push_angle * std::floor((ctrl_trigger_.joint_.getPosition() + 0.01 + config_.exit_push_threshold) / push_angle));