diff --git a/conf/iCubFindDependencies.cmake b/conf/iCubFindDependencies.cmake index 0883557200..9fa6cff6c8 100644 --- a/conf/iCubFindDependencies.cmake +++ b/conf/iCubFindDependencies.cmake @@ -72,8 +72,8 @@ checkandset_dependency(Qt5) if(icub_firmware_shared_FOUND AND ICUB_USE_icub_firmware_shared) # icub-firmware-shared 4.0.7 was actually a wrong version exported by icub-firmware-shared <= 1.15 - if(icub_firmware_shared_VERSION VERSION_GREATER 4 OR icub_firmware_shared_VERSION VERSION_LESS 1.20.2) - message(FATAL_ERROR "An old version of icub-firmware-shared has been detected, but at least 1.20.2 is required") + if(icub_firmware_shared_VERSION VERSION_GREATER 4 OR icub_firmware_shared_VERSION VERSION_LESS 1.21.0) + message(FATAL_ERROR "An old version of icub-firmware-shared has been detected, but at least 1.21.0 is required") endif() endif() diff --git a/src/libraries/icubmod/embObjLib/serviceParser.cpp b/src/libraries/icubmod/embObjLib/serviceParser.cpp index 1d3e5b8a00..95e1d9981e 100755 --- a/src/libraries/icubmod/embObjLib/serviceParser.cpp +++ b/src/libraries/icubmod/embObjLib/serviceParser.cpp @@ -1792,6 +1792,8 @@ bool ServiceParser::parse_encoder_port(std::string const &fromstring, eObrd_etht { const char *t = fromstring.c_str(); + yInfo() << "ServiceParser::parse_encoder_port(): ===========================> " << eomc_encoder2string(type, false); + bool ret = false; switch(type) { @@ -1810,6 +1812,7 @@ bool ServiceParser::parse_encoder_port(std::string const &fromstring, eObrd_etht } break; case eomc_enc_aea: + case eomc_enc_aea3: case eomc_enc_amo: case eomc_enc_qenc: case eomc_enc_spichainof2: diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp index 733892be07..50964b38d0 100644 --- a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp +++ b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp @@ -1054,6 +1054,9 @@ void embObjMotionControl::updateDeadZoneWithDefaultValues(void) case eomc_enc_aea: _deadzone[i] = eomc_defaultValue::DeadZone::jointWithAEA;// 0.0494; break; + case eomc_enc_aea3: + _deadzone[i] = eomc_defaultValue::DeadZone::jointWithAEA3;// TODO: temporary equal to 0.0 (fixit!) + break; case eomc_enc_amo: _deadzone[i] = eomc_defaultValue::DeadZone::jointWithAMO;// 0.0055; break; diff --git a/src/libraries/icubmod/embObjMotionControl/motionControlDefaultValues.h b/src/libraries/icubmod/embObjMotionControl/motionControlDefaultValues.h index 6542d264f5..ecbb36faca 100644 --- a/src/libraries/icubmod/embObjMotionControl/motionControlDefaultValues.h +++ b/src/libraries/icubmod/embObjMotionControl/motionControlDefaultValues.h @@ -29,6 +29,7 @@ namespace eomc_defaultValue namespace DeadZone { const double jointWithAEA = 0.0494; + const double jointWithAEA3 = 0.0; // TODO: fix const double jointWithAMO = 0.0055; } }