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deeper fixes for
#414
1 parent f28f6c0 commit f6e7d80

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2 files changed

+9
-8
lines changed

2 files changed

+9
-8
lines changed

src/main/java/com/neuronrobotics/bowlerstudio/creature/JogWidget.java

Lines changed: 8 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -274,6 +274,14 @@ private void homeLimb(DHParameterKinematics c) {
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double[] joints = c.getCurrentJointSpaceVector();
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for (int i = 0; i < c.getNumberOfLinks(); i++) {
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joints[i] = 0;
277+
}
278+
try {
279+
c.setDesiredJointSpaceVector(joints, c.getBestTime(joints));
280+
} catch (Exception e) {
281+
// TODO Auto-generated catch block
282+
e.printStackTrace();
283+
}
284+
for (int i = 0; i < c.getNumberOfLinks(); i++) {
277285
try {
278286
if(c.getFollowerMobileBase(i)!=null) {
279287
homeBase(c.getFollowerMobileBase(i));
@@ -282,13 +290,6 @@ private void homeLimb(DHParameterKinematics c) {
282290
ex.printStackTrace();
283291
}
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}
285-
try {
286-
c.setDesiredJointSpaceVector(joints, c.getBestTime(joints));
287-
} catch (Exception e) {
288-
// TODO Auto-generated catch block
289-
e.printStackTrace();
290-
}
291-
292293
}
293294

294295
@Override

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