From 988ed2051e68edd121dc273b47ef27a4d4a5c0e2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bartek=20=C5=81ukawski?= <bwmn.peter@gmail.com>
Date: Thu, 16 Jan 2020 15:27:32 +0100
Subject: [PATCH] Increase drive state transition timeout (2 -> 3 seconds)

Drive id25-ipos has some timing issues.
---
 libraries/YarpPlugins/TechnosoftIpos/DeviceDriverImpl.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/YarpPlugins/TechnosoftIpos/DeviceDriverImpl.cpp b/libraries/YarpPlugins/TechnosoftIpos/DeviceDriverImpl.cpp
index 06f359c87..55679ac2f 100644
--- a/libraries/YarpPlugins/TechnosoftIpos/DeviceDriverImpl.cpp
+++ b/libraries/YarpPlugins/TechnosoftIpos/DeviceDriverImpl.cpp
@@ -96,7 +96,7 @@ bool TechnosoftIpos::open(yarp::os::Searchable & config)
 
     // TODO: hardcoded values
     double canSdoTimeoutMs = config.check("canSdoTimeoutMs", yarp::os::Value(20.0), "CAN SDO timeout (ms)").asFloat64();
-    double canDriveStateTimeout = config.check("canDriveStateTimeout", yarp::os::Value(2.0), "CAN drive state timeout (s)").asFloat64();
+    double canDriveStateTimeout = config.check("canDriveStateTimeout", yarp::os::Value(3.0), "CAN drive state timeout (s)").asFloat64();
     double monitorPeriod = config.check("monitorPeriod", yarp::os::Value(0.5), "monitor thread period (s)").asFloat64();
 
     can = new CanOpen(canId, canSdoTimeoutMs * 0.001, canDriveStateTimeout);