Merge pull request #9 from nasa-jpl/abrinkma-actuator-reset-modification

Modified actuator reset behavior to no longer disengage brakes

Author: alex-brinkman

src/jsd/actuator.cc

@@ -271,7 +271,6 @@ bool fastcat::Actuator::Write(DeviceCmd& cmd)
 
     case ACTUATOR_RESET_CMD:
       Reset();
-      return false;
       break;
 
     case ACTUATOR_HALT_CMD:
@@ -368,10 +367,8 @@ void fastcat::Actuator::Fault()
 void fastcat::Actuator::Reset()
 {
   WARNING("Resetting Actuator device %s", name_.c_str());
-  if (actuator_sms_ == ACTUATOR_SMS_FAULTED ||
-      actuator_sms_ == ACTUATOR_SMS_HALTED) {
-    TransitionToState(ACTUATOR_SMS_HOLDING);
-    EgdReset();
+  if (actuator_sms_ == ACTUATOR_SMS_FAULTED) {
+    TransitionToState(ACTUATOR_SMS_HALTED);
   }
 }
 

src/jsd/actuator.h

@@ -66,6 +66,7 @@ class Actuator : public DeviceBase
   bool HandleNewProfVelCmd(DeviceCmd& cmd);
   bool HandleNewProfTorqueCmd(DeviceCmd& cmd);
   bool HandleNewHaltCmd();
+  bool HandleNewResetCmd();
   bool HandleNewSetOutputPositionCmd(DeviceCmd& cmd);
   bool HandleNewCalibrationCmd(DeviceCmd& cmd);
 

src/jsd/actuator_fsm_helpers.cc

@@ -47,7 +47,7 @@ bool fastcat::Actuator::CheckStateMachineMotionCmds()
       break;
 
     case ACTUATOR_SMS_HALTED:
-      Reset();  // This will open the brake, then fallthrough
+      EgdReset();  // This will open the brake, then fallthrough
     case ACTUATOR_SMS_HOLDING:
     case ACTUATOR_SMS_PROF_POS:
     case ACTUATOR_SMS_PROF_VEL:
@@ -343,7 +343,7 @@ bool fastcat::Actuator::HandleNewCalibrationCmd(DeviceCmd& cmd)
       return false;
 
     case ACTUATOR_SMS_HALTED:
-      Reset();
+      EgdReset();
     case ACTUATOR_SMS_HOLDING:
       break;
     case ACTUATOR_SMS_PROF_POS: