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Clear speed controller history when set_speed is 0 #89

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Clear speed controller history when set_speed is 0 #89

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1 change: 1 addition & 0 deletions XRPLib/encoded_motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -164,6 +164,7 @@ def set_speed(self, speed_rpm: float = None):
if speed_rpm is None or speed_rpm == 0:
self.target_speed = None
self.set_effort(0)
self.speedController.clear_history()
return
# Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz)
self.target_speed = speed_rpm*self._encoder.resolution/(60*50)
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