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Added fix for calibration 5 #559

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merged 1 commit into from
Jan 27, 2025
Merged

Added fix for calibration 5 #559

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2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/amc/application/v2/cfg/theApplication_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ namespace embot { namespace app { namespace eth {
{
Process::eApplication,
{2, 14},
{2025, Month::Jan, Day::sixteen, 11, 17}
{2025, Month::Jan, Day::twentytwo, 16, 00}
},
.OStick = 1000*embot::core::time1microsec,
.OSstacksizeinit = 10*1024,
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12 changes: 6 additions & 6 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
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Expand Up @@ -81,20 +81,20 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR (VERSION_MAJOR_OFFSET+3)
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 98
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 99
// </h>version

// <h> build date
// <o> year <2010-2030>
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2024
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2025
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 12
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 1
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 24
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 14
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 18
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 16
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 00
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 0
// </h>build date
// </h>Info

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2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
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Expand Up @@ -75,7 +75,7 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR 3
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 77
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 78

// </h>version

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2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
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Expand Up @@ -84,7 +84,7 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR (VERSION_MAJOR_OFFSET+3)
// <o> minor <0-255>

#define EOMTHEEMSAPPLCFG_VERSION_MINOR 98
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 99

// </h>version

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2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/embobj/plus/mc/Calibrators.c
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Expand Up @@ -64,7 +64,7 @@ BOOL JointSet_do_wait_calibration_5(JointSet* o)

for (int ms=0; ms<*(o->pN); ++ms)
{
if (!Motor_is_calibrated(o->motor+o->motors_of_set[ms]))
if(Calibration_check(o->motor+o->motors_of_set[ms]))
{
calibrated = FALSE;

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4 changes: 4 additions & 0 deletions emBODY/eBcode/arch-arm/embobj/plus/mc/Motor.c
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Expand Up @@ -990,6 +990,10 @@ BOOL Motor_is_calibrated(Motor* o) //
return !(o->not_calibrated);
}

BOOL Calibration_check(Motor* o)
{
return (o->hardstop_calibdata.u.bits.iscalibrating && !(o->hardstop_calibdata.u.bits.hwlimitreached));
}

CTRL_UNITS Motor_do_trq_control_EXPERIMENTAL(Motor* o, CTRL_UNITS trq_ref, CTRL_UNITS trq_fbk, CTRL_UNITS motor_vel_icubdeg_sec) //
{
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1 change: 1 addition & 0 deletions emBODY/eBcode/arch-arm/embobj/plus/mc/Motor.h
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Expand Up @@ -68,6 +68,7 @@ extern void Motor_force_idle(Motor* o); //

extern void Motor_motion_reset(Motor *o); //
extern BOOL Motor_is_calibrated(Motor* o); //
extern BOOL Calibration_check(Motor* o); //
extern BOOL Motor_check_faults(Motor* o); //
extern void Motor_reset(Motor *o);//

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