Figure out buffer underflow error in EPOS

PayneTrain commented 11 years ago

Why is it coming up for the interpolation mode?

hmartiro commented 11 years ago

I see three things that we have to do:

Look at current draws given loads, impacts, etc
Figure out how to make it follow a given trajectory function (sin wave, square wave, etc)
Connect the second motor with a CAN cable and control both of them independently

hmartiro commented 11 years ago

If we can do those and then ensure that the same can be done with the Linux API, then we can order the next four motor stacks.

hmartiro commented 11 years ago

we have a trajectory being imported into EPOS wooof :smiley_cat:

hmartiro commented 11 years ago

The application notes say that we should use the CAN wizard to reduce the overhead for IPO transmission:

During the interpolation is active the feeding of new reference points is the main task. To minimize the communication overhead it makes sense to map the “Interpolation data record” in a (asynchronous) receive PDO. If the “Interpolation buffer status” is mapped to an event trigger transmit PDO (maybe together with the Statusword) the processing of the reference point feeding could be implemented simpler.

There are screenshots there for how to do it

hmartiro / project-thesis

Figure out buffer underflow error in EPOS #45