From 70995be8a49080dd3fd96fefbb612f4ea79fd6d6 Mon Sep 17 00:00:00 2001
From: krishauser <hauser.kris@gmail.com>
Date: Mon, 8 Feb 2016 18:40:48 -0500
Subject: [PATCH] Fixed base problem

---
 common/Motion/motion_kinematic.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/common/Motion/motion_kinematic.cpp b/common/Motion/motion_kinematic.cpp
index 662194b..16881c4 100644
--- a/common/Motion/motion_kinematic.cpp
+++ b/common/Motion/motion_kinematic.cpp
@@ -90,10 +90,12 @@ class MyControllerUpdateData : public ControllerUpdateData
     robotState.rightLimb.senseUpdateTime = t;
 
     //base moving flag
-    if(robotState.base.velocity.norm() > 1e-3 || robotState.base.sendCommand)
-      robotState.base.moving = true;
-    else
-      robotState.base.moving = false;
+    if(robotState.base.enabled) {
+      if(robotState.base.velocity.norm() > 1e-3 || robotState.base.sendCommand)
+	robotState.base.moving = true;
+      else
+	robotState.base.moving = false;
+    }
 
     lastSensorTime = t;
     return true;