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Fix calibration 5 when runs on EMS/2FOC boards. #558

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valegagge opened this issue Jan 17, 2025 · 2 comments
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Fix calibration 5 when runs on EMS/2FOC boards. #558

valegagge opened this issue Jan 17, 2025 · 2 comments
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@AntonioViscomi
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@valegagge
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valegagge commented Jan 17, 2025 •
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During the experiments on the Camozzi linear actuator we noticed, that the calibration 5 doesn't work on EMS/2FOC boards because, during the calibration phase, the 2foc sends the calibration status of the QE encoder (which is strictly related to the motor/stator calibartion) and overwrite the calibration state of the joint.

We want to fix calibration 5 to make it possible to run the calibration until the complete stop of those joints that only have the motor encoder.

Dod
Fix done and tested both on setup and on robot.
PR opened and merged
@AntonioViscomi
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AntonioViscomi commented Jan 27, 2025 •
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The firmware was tested on iCubGenova 11 and showed no issue.
Here is the PR that should close the issue:

@valegagge
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Dod satified. Closing

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