Because MCB does not know it's hardware version till host tells it the rev we have this startup error which leads to possible motor jump if movement command comes prior to first ESTOP power on on the MCB.
Start with main power and ESTOP power both off.
Turn on main power.
MCB can only know it is rev 5.x or later if motor power is on and relies on host to override that.
Host is telling MCB it is version 4.9.
If any cmd_vel happens OR robot is moved and encs change that sets up this error to happen.
Estop power is turned on and robot JUMPS. MCB also very quickly knows it is now 5.x but the jump has happened.
To fix this motor node must read the I2C register that holds MCB board rev and set that in MCB prior to any
speed commands being sent to robot by host.
This can be fixed in motor_node.cc by doing I2C reg read before host sets robot Hardware Version
mjstn
commented
3 years ago
Because MCB does not know it's hardware version till host tells it the rev we have this startup error which leads to possible motor jump if movement command comes prior to first ESTOP power on on the MCB.
Start with main power and ESTOP power both off. Turn on main power. MCB can only know it is rev 5.x or later if motor power is on and relies on host to override that. Host is telling MCB it is version 4.9. If any cmd_vel happens OR robot is moved and encs change that sets up this error to happen. Estop power is turned on and robot JUMPS. MCB also very quickly knows it is now 5.x but the jump has happened.
To fix this motor node must read the I2C register that holds MCB board rev and set that in MCB prior to any speed commands being sent to robot by host.
This can be fixed in motor_node.cc by doing I2C reg read before host sets robot Hardware Version