Added fix for calibration 5 #559
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…tuator setup (ankle setup)
|
Hi @AntonioViscomi , Have you already tested on the robot? |
Hi @valegagge , |
marcoaccame
approved these changes
Jan 27, 2025
There was a problem hiding this comment.
Hi @AntonioViscomi, the changes are fine, thanks. And very well for the tests on the robot for backwards compatibility.
Pls prepare the associated PR also on icub-firmware-build, something such as this one:
Then we can merge all together.
Sorry, changed idea: better do the following:
- merge this PR: @marcoaccame
- prepare the PR on
icub-firmware-build: @AntonioViscomi
The reason is that there are some branches with WIP and the faster we rebase the better
|
Hi @marcoaccame , |
marcoaccame
added a commit
that referenced
this pull request
Jan 27, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
During tests with the Camozzi linear actuator, we found that calibration 5 fails on EMS/2FOC boards because the 2FOC overwrites the joint calibration state with the state of the QE encoder (related to the stator/rotor calibration).
This PR fixes this behavior, allowing the joint to be calibrated correctly.