From c3328b8a49d5a0c816e55ccf96523a447e806e58 Mon Sep 17 00:00:00 2001 From: Valentina Gaggero Date: Thu, 9 Mar 2023 10:53:37 +0100 Subject: [PATCH 1/2] Added calib 14 (hard stop+fap) data --- .../plus/comm-v2/icub/EoMotionControl.h | 22 +++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/eth/embobj/plus/comm-v2/icub/EoMotionControl.h b/eth/embobj/plus/comm-v2/icub/EoMotionControl.h index a214d116..53ce7853 100644 --- a/eth/embobj/plus/comm-v2/icub/EoMotionControl.h +++ b/eth/embobj/plus/comm-v2/icub/EoMotionControl.h @@ -218,6 +218,7 @@ typedef enum eomc_calibration_type11_cer_hands = 11, // cannot change eomc_calibration_type12_absolute_sensor = 12, // cannot change //substitutes type 3 eomc_calibration_type13_cer_hands_2 = 13, // cannot change + eomc_calibration_type14_qenc_hard_stop_and_fap = 14, // cannot change eomc_calibration_typeMixed = 254, // cannot change eomc_calibration_typeUndefined = 255 // cannot change } eOmc_calibration_type_t; @@ -441,6 +442,26 @@ typedef struct int32_t rawValueAtZeroPos3; } eOmc_calibrator_params_type13_cer_hands_2_t; + +/** @typedef typedef struct eOmc_calibrator_params_type14_qenc_hard_stop_and_fap_t + @brief contains the params in case of eomc_calibration_type14_qenc_hard_stop_and_fap_t + **/ +typedef struct +{ + int32_t pwmlimit; + int32_t final_pos; + uint8_t invertdirection; + uint8_t rotation; + uint8_t filler; + int32_t offset; + int32_t calibrationZero; + +} eOmc_calibrator_params_type14_qenc_hard_stop_and_fap_t; + + + + + // -- all the possible data holding structures used in a joint @@ -551,6 +572,7 @@ typedef struct // size is 1+3+4*4 = 20 eOmc_calibrator_params_type11_cer_hands_t type11; eOmc_calibrator_params_type12_absolute_sensor_t type12; eOmc_calibrator_params_type13_cer_hands_2_t type13; + eOmc_calibrator_params_type14_qenc_hard_stop_and_fap_t type14; } params; /**< the params of the calibrator */ } eOmc_calibrator32_t; EO_VERIFYsizeof(eOmc_calibrator32_t, 28) From 6eb74e9b020b9690904960113c59599dd8010889 Mon Sep 17 00:00:00 2001 From: valentina Gaggero Date: Thu, 6 Apr 2023 19:55:16 +0000 Subject: [PATCH 2/2] Set version 1.34.1 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 63268019..6ee9e985 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.12) project(icub_firmware_shared - VERSION 1.34.0) + VERSION 1.34.1) find_package(YCM 0.11.0 REQUIRED)