robofsm: Release motion control feedback on start-up and when motor_stop() called.

diff --git a/src/robofsm/movehelper.cc b/src/robofsm/movehelper.cc
index 613b27f9c1b6049aac516749867280b4fdd5e4f9..e89593eb3fa4048e48a678e2aaa0b52ef1f680e5 100644 (file)
--- a/src/robofsm/movehelper.cc
+++ b/src/robofsm/movehelper.cc
@@ -189,6 +189,9 @@ void robot_trajectory_add_final_point_notrans(double x_m, double y_m, struct mov
 void robot_stop()
 {
        FSM_SIGNAL(MOTION, EV_MOVE_STOP, NULL);
+        robot.orte.motion_speed.left = 0xFFFF;
+        robot.orte.motion_speed.right = 0xFFFF;
+        ORTEPublicationSend(robot.orte.publication_motion_speed);
 }
 
 

diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index ee9b183663eda85f9c3d5755fe745babcfc2eeeb..47023ef02781d62c69ea5350b47113873d49a67b 100644 (file)
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -126,8 +126,8 @@ int robot_init()
        block_signals();
 
        /* initial values */
-       robot.orte.motion_speed.left = 0;
-       robot.orte.motion_speed.right = 0;
+       robot.orte.motion_speed.left = 0xFFFF;
+       robot.orte.motion_speed.right = 0xFFFF;
 
        robot.orte.pwr_ctrl.voltage33 = 1;
        robot.orte.pwr_ctrl.voltage50 = 1;