[command] RamseteCommand: Output 0 if interrupted (#3216)

2026-06-19 00:41:43 +00:00 · 2021-03-01 08:06:34 +02:00
parent 3cf44e0a53
commit 435bbb6a8c
2 changed files with 12 additions and 0 deletions
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
@@ -146,6 +146,14 @@ void RamseteCommand::Execute() {

 void RamseteCommand::End(bool interrupted) {
  m_timer.Stop();
+
+  if (interrupted) {
+    if (m_usePID) {
+      m_outputVolts(0_V, 0_V);
+    } else {
+      m_outputVel(0_mps, 0_mps);
+    }
+  }
 }

 bool RamseteCommand::IsFinished() {