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HaddingtonDynamics / Dexter

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AdcCenters not updated in FPGA when written to file. #62

Closed JamesNewton closed 5 years ago

JamesNewton commented 5 years ago

When a human is calibrating the joint eyes on Dexter via DDE, they might expect that when the new centers are saved to the robot, they have effect immediately. This is NOT the case. The robot must be power cycled for them to be read into the FPGA from the file DDE writes to the robot.

Commit https://github.com/HaddingtonDynamics/Dexter/commit/0d766de6320b2e64755c999c5daa912108d5f2c9 resolves this by detecting an updated AdcCenters.txt file IF written via write_to_robot and then re-loads that file immediately.

DDE should still advise the use to restart the robot because there is no way to know if this new function has been implemented in Dexter.

cfry commented 5 years ago

How about if each Dexter has a Manufacture date on it. We'll know what software was shipped on its SD card, then we can know what to tell the users. Maybe manufacture date is something DDE could retrieve from a file of "specs" on dexter.

On Wed, Apr 17, 2019 at 4:22 PM JamesNewton notifications@github.com wrote:

Assigned #62 https://github.com/HaddingtonDynamics/Dexter/issues/62 to @cfry https://github.com/cfry.

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JamesNewton commented 5 years ago

The issue is that read from robot isnt supported on early Dexters and will actually crash some of them.

On Wed, Apr 17, 2019, 6:26 PM cfry notifications@github.com wrote:

How about if each Dexter has a Manufacture date on it. We'll know what software was shipped on its SD card, then we can know what to tell the users. Maybe manufacture date is something DDE could retrieve from a file of "specs" on dexter.

On Wed, Apr 17, 2019 at 4:22 PM JamesNewton notifications@github.com wrote:

Assigned #62 https://github.com/HaddingtonDynamics/Dexter/issues/62 to @cfry https://github.com/cfry.

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JamesNewton commented 5 years ago

@cfry Based on our moving to using read from robot to get the Defaults.make_ins file on first connect, I'm assuming that backwards compatibility is no longer being taken as a concern and that anyone who's Dexter crashes on connect will be told to update the firmware (and gateware to match). So I'm closing this issue as the base issue was resolved in that April commit.