commit 17ffa8c86baade4e5829e7e08db4fd5b731b90ba
author Brian Silverman <bsilver16384@gmail.com> Fri Mar 09 18:27:29 2018 -0800
committer Brian Silverman <bsilver16384@gmail.com> Sat Mar 10 18:08:32 2018 -0800
tree cd744683714305e1f6cc60edb6a776df8979c518
parent dabdf90e70d8ba2386faba3c1c1b8687c10a718f

Fix timeout handling on the controller side

Change-Id: I705d7e874c2e25dc9bc90357a2f086260465737e

motors/pistol_grip/controller.cc

diff --git a/motors/pistol_grip/controller.cc b/motors/pistol_grip/controller.cc
index dd3a4b8..6bdf0b3 100644
--- a/motors/pistol_grip/controller.cc
+++ b/motors/pistol_grip/controller.cc
@@ -328,6 +328,8 @@
     wheel_haptic_current = 0.0f;
     wheel_centering = true;
     wheel_centering_scalar = 0.25f;
+    // Avoid wrapping back into the valid range.
+    last_command_time = time_subtract(micros(), kTimeout);
   }
 
   StateFeedbackPlant<3, 1, 1, float> *const trigger_plant =