The values coming out of the FPGA are 18 bit and must be sign extended to correctly report negative angles. Somehow this was missed in testing. Also, the joint cal slope and home offset were not being applied as it is in getNormalizedInput. Using that routine here standardizes the values.
The values coming out of the FPGA are 18 bit and must be sign extended to correctly report negative angles. Somehow this was missed in testing. Also, the joint cal slope and home offset were not being applied as it is in getNormalizedInput. Using that routine here standardizes the values.
Fixed in: https://github.com/HaddingtonDynamics/Dexter/commit/a2ac038300f5d5018e4436b79b916d0165b01537