When moving at velocity, enable auto zeroing is safe but not when going to a position or holding a position. A sudden redefinition of sensor's point of reference results in a violent correction that may exceed the hardware limits.
If holding position, poll for hardware limit instead. Then zero or set to the proper min or max value to the hardware.
The problem manifests itself if limit switch goes hit by mistake, the robot goes crazy.
When moving at velocity, enable auto zeroing is safe but not when going to a position or holding a position. A sudden redefinition of sensor's point of reference results in a violent correction that may exceed the hardware limits.
If holding position, poll for hardware limit instead. Then zero or set to the proper min or max value to the hardware.
The problem manifests itself if limit switch goes hit by mistake, the robot goes crazy.