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Fix when switching kinematics while in teleop mode with machine enabled #3058

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Fix when switching kinematics while in teleop mode with machine enabled #3058

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f76c1c1
Fix error joint limits zeroing variables before using
May 31, 2024
ff5adc4
Fix error joint limits zeroing variables before using
May 31, 2024
40e5224
-FIX when kinematic switch is executed with control enable and in tel…
Aug 7, 2024
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13 changes: 13 additions & 0 deletions src/emc/motion/control.c
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Original file line number Diff line number Diff line change
Expand Up @@ -341,6 +341,14 @@ static void handle_kinematicsSwitch(void) {
}
#endif
tpSetPos(&emcmotInternal->coord_tp, &emcmotStatus->carte_pos_cmd);

/* Also synch teleop mode to avoid change in joint cmd */
for (int axis_num = 0; axis_num < MAX_AXIS_AMOUNT; axis_num++) {
emcmot_axis_t *axis;
axis = &axes[axis_num];
axis->teleop_tp.curr_pos = *pcmd_p[axis_num];
}

} //handle_kinematicsSwitch()

static void process_inputs(void)
Expand Down Expand Up @@ -1471,6 +1479,11 @@ static void get_pos_cmds(long period)
for (joint_num = 0; joint_num < ALL_JOINTS; joint_num++) {
/* point to joint data */
joint = &joints[joint_num];

/* Zero values */
joint_limit[joint_num][0] = 0;
joint_limit[joint_num][1] = 0;

/* skip inactive or unhomed axes */
if ((!GET_JOINT_ACTIVE_FLAG(joint)) || (!get_homed(joint_num))) {
continue;
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