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Added calibration 14 data struct #81

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merged 2 commits into from
Apr 7, 2023
Merged

Added calibration 14 data struct #81

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c3328b8
Added calib 14 (hard stop+fap) data
valegagge Mar 9, 2023
6eb74e9
Set version 1.34.1
valegagge Apr 6, 2023
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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)

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22 changes: 22 additions & 0 deletions eth/embobj/plus/comm-v2/icub/EoMotionControl.h
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Expand Up @@ -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;
Expand Down Expand Up @@ -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


Expand Down Expand Up @@ -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)

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