Revert a bit to see if this have impact on the CI

UniversalRobots · Jun 29, 2023 · 45792e7 · 45792e7
1 parent 0992492
commit 45792e7
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/resources/external_control.urscript b/resources/external_control.urscript
@@ -443,9 +443,6 @@ while keepalive > 0 and control_mode > MODE_STOPPED:
       elif control_mode == MODE_FREEDRIVE:
         textmsg("Leaving freedrive mode")
         end_freedrive_mode()
-      else:
-        kill thread_move
-        stopj(STOPJ_ACCELERATION)
       end
 
       # If tool is in contact, tool contact should be ended before switching control mode
@@ -463,6 +460,7 @@ while keepalive > 0 and control_mode > MODE_STOPPED:
         thread_move = run speedThread()
       elif control_mode == MODE_FORWARD:
         kill thread_move
+        stopj(STOPJ_ACCELERATION)
       elif control_mode == MODE_SPEEDL:
         thread_move = run speedlThread()
       elif control_mode == MODE_POSE: