Open pathammer opened 3 years ago
The code says only enable Sync0 if ESI file has AssignActivate="0x400" but it should actually be 0x300 as only bits 0:1 control Sync0. https://github.com/ihmcrobotics/ihmc-ethercat-master/blob/bf988f84135b165e5dd4fb60f2e4ed954b469c67/src/main/java/us/ihmc/etherCAT/master/Slave.java#L622
The code says only enable Sync0 if ESI file has AssignActivate="0x400" but it should actually be 0x300 as only bits 0:1 control Sync0. https://github.com/ihmcrobotics/ihmc-ethercat-master/blob/bf988f84135b165e5dd4fb60f2e4ed954b469c67/src/main/java/us/ihmc/etherCAT/master/Slave.java#L622