Category: HAL
You might use a different PID (with different tuning) during the "recovery" period
so the correction is gentle, that and a 'near' component to determine when to go
back into full servo mode.
So
hand mode: drive disabled, LinuxCNC motor position feedback looped
back from motor position command (via mux)
recover mode: drive enabled, LinuxCNC motor position feedback looped
back from motor position command (via mux) Special PID used with bounded
error and no FF so correction velocity is limited
exit from recover mode when encoder feedback is "near" position command
