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Add support for aea3 encoder #769

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merged 3 commits into from
Nov 16, 2021
Merged

Add support for aea3 encoder #769

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aec8267
Add support for aea3
sgiraz Sep 8, 2021
c2ae2fb
Merge branch 'robotology:devel' into devel
sgiraz Nov 9, 2021
4bf66c6
updated requirement of icub-firmware-shared to version 1.21.0
marcoaccame Nov 16, 2021
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4 changes: 2 additions & 2 deletions conf/iCubFindDependencies.cmake
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Expand Up @@ -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()

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3 changes: 3 additions & 0 deletions src/libraries/icubmod/embObjLib/serviceParser.cpp
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Expand Up @@ -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)
{
Expand All @@ -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:
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3 changes: 3 additions & 0 deletions src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
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Expand Up @@ -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;
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1 change: 1 addition & 0 deletions src/libraries/icubmod/embObjMotionControl/motionControlDefaultValues.h
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Expand Up @@ -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;
}
}
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