Fix diagnostic for AEA encoder and calibration type 10 #540
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MSECode
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Added debug lines for testing the calibration type 10 Update calibration type 10 procedure making more robust and removing errors at restarting
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This was referenced Dec 2, 2024
ale-git
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Dec 3, 2024
| @@ -626,7 +626,7 @@ BOOL JointSet_do_wait_calibration_10(JointSet* o) | |||
| } | |||
| else | |||
| { | |||
| if (AbsEncoder_is_hard_stop_calibrating(encoder)) | |||
| if (AbsEncoder_is_hard_stop_calibrating(encoder) && (!encoder->state.bits.not_initialized)) | |||
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Hi @MSECode, can it happen that a calibration command is sent before the encoder is configured?
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yes, it happened to me sometimes. I'm not sure why, but it was most likely to happen after restarting the yarprobotinterface without switching off and on the boards.
This caused the problem of not allowing the joint to reach the hw limit.
If you wanna dig on that I've collected more details and tests done here: #529 (comment), #529 (comment)
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hi @MSECode, this PR triggers a lot of linked PRs. Let me have a look at them. |
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This PR solves issue related to calibration type 10 for joints that use AMO encoders.
Moreover we solve the diagnostic problem related to AEA encoders described here: #533
Precisely, it brings the following improvements and fixes:
Tests done on the robot are collected here:
The issues that interested the AMO encoders and the calibration type 10 are collected here:
It is related to: