Clear speed controller history when set_speed is 0 #89
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Hi! I would really like to see this merged. My students have been running into this issue where the instructions here: https://introtoroboticsv2.readthedocs.io/en/latest/course/driving/driving_a_distance.html really don't work because of the problem that this PR addresses. When the students restart their robots over again with the same code, the robots travel at inconsistent speeds. Any chance you could get this merged and released @ksiegall? Thanks!! |
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Resolves #83 by clearing the speed controller history once the motor is stopped, preventing the integral term from being preserved between two isolated instances of the speed controller.