From 5438a3b83d0c0928a6d86fd0cca2c58dcc40105c Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Thu, 5 Dec 2019 18:07:29 +0100
Subject: [PATCH] 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 7a39c37a..c2a5e07f 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) / 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)
-- 
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