Host must re-initialize MCB when it detects MCB board has been reset

UbiquityRobotics / ubiquity_motor

Package that provides a ROS interface for the motors in UbiquityRobotics robots

BSD 3-Clause "New" or "Revised" License

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Host must re-initialize MCB when it detects MCB board has been reset #98

Closed mjstn closed 3 years ago

mjstn commented 3 years ago

As of MCB firmware v37 the host reads if a reboot happened on the MCB in the system events register. Interfaces are in place to read this in motor_node.cc

Next we must package up the MCB init code in motor_node.cc and call it again when MCB reset is detected.

Firmware side issue was: Host node must be aware firmware has rebooted #4

mjstn commented 3 years ago

This is being addressed in branch reinitMcbOnMcbReset and seems functional at this time but is not in review yet.

mjstn commented 3 years ago

Have merged the branch of reInitMcbOnReset today.

Note: A prior branch was botched that had a similar name but reInitMcbOnReset is the branch used for the final change.

mjstn commented 3 years ago

This has been merged into ubiquity_motor as commit e404c0d5e7f922bedfd9fdba3c8ccb752ffa0fa8 This issue has been implemented and I close it now.