I am moving the motor with an angle position or velocity command. I am stopping the motor with a disable motor command. If I enable the motor, it resumes the command form before. How can I reenable the motor without continuing the command?
Another issue, sometimes I change the current limit while moving, and then when I stop the motor, it seems to keep on going on constant high current. It seems like the PID is overflowed or something.
What can I do?