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WPIRoboticsEngineering · Jan 10, 2022 · 11712df · 11712df
1 parent 19ba21b
commit 11712df
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/Romi32U4Motors.cpp b/src/Romi32U4Motors.cpp
@@ -124,7 +124,8 @@ void Romi32U4Motor::setTargetSpeed(int16_t target)
 
     if(ctrlMode != CTRL_SPEED)
     {
-        //when new target speeds are set, reset the error integral
+        // Reset the error integral if we are switching from another mode
+        // Otherwise, the robot may jump due to residual integral
         pidCtrl.resetSum();
     }