From 005c044c7a62c6aae797c18ebe40af4ba617ad2d Mon Sep 17 00:00:00 2001 From: Paul Beuchat <beuchatp@control.ee.ethz.ch> Date: Fri, 6 Dec 2019 00:49:53 +0100 Subject: [PATCH] Corrected the small change in CS1 controller to ensure the that integer casting always rounds down to the correct number --- dfall_ws/src/dfall_pkg/src/nodes/CsoneControllerService.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dfall_ws/src/dfall_pkg/src/nodes/CsoneControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/CsoneControllerService.cpp index c2a5e07f..c96140f4 100644 --- a/dfall_ws/src/dfall_pkg/src/nodes/CsoneControllerService.cpp +++ b/dfall_ws/src/dfall_pkg/src/nodes/CsoneControllerService.cpp @@ -737,7 +737,7 @@ void setNewTimeDelay(int newTimeDelay) float delta_T_in_milliseconds = 1000.0 / yaml_control_frequency; // Convert the time delay to a number of time steps - int time_delay_in_steps = int( float(newTimeDelay) + 0.1 / delta_T_in_milliseconds ); + int time_delay_in_steps = int( (float(newTimeDelay) + 0.1) / delta_T_in_milliseconds ); // Wrap this value into the allowed limits if (time_delay_in_steps<0) -- GitLab