SmartBench/cmvr-es
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix(huaya):fix stopL interface

Browse Source
This commit is contained in:
lgv 2026-07-02 11:24:13 +08:00
parent a5afef198d
commit 33097d0279
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
cmvr-es/devices/arm/huayan_arm/huayan_arm.cpp
View File

@ -413,7 +413,7 @@ Result HuayanRobot::speedL(const CartesianVelocity& velocity,
return wait_result;
}
Result HuayanRobot::stopL(const double acceleration)
Result HuayanRobot::stopL(std::optional<double> acceleration = std::nullopt)
{
(void)acceleration;
return stopMotion();

2
cmvr-es/devices/arm/huayan_arm/huayan_arm.h
View File

@ -53,7 +53,7 @@ public:
Result stopJ(double acceleration) override;
Result moveL(const CartesianPose& target, const MotionOptions& options, FrameType frame = FrameType::Base) override;
Result speedL(const CartesianVelocity& velocity, double acceleration, double duration, FrameType frame = FrameType::Base) override;
Result stopL(double acceleration) override;
Result stopL(const std::optional<double> acceleration) override;
Result stopMotion() override;
Result startServoMode(const ServoOptions& options) override;