adeguet1
commented
1 year ago All points addressed in:
- https://github.com/jhu-saw/sawRobotIO1394/commit/106929935fe2c1b66f2754a786c7477290d4b2bc
- https://github.com/jhu-saw/sawRobotIO1394/commit/83511c0561eff10392e901881bf7072610755c62
- https://github.com/jhu-saw/sawRobotIO1394/commit/1e4cc22e47b9e99cf95f85b2f5df38c10a024aed
- https://github.com/jhu-saw/sawRobotIO1394/commit/8ea79714a5cfa6b7a70513d8b02ec0e2e99bdb42
Users shouldn't be able to deactivate the pots/encoder check on Si arms. The only time the check is not required is during the calibration and this doesn't require motor power. sawRobotIO can determine if the arm is using a lookup table.
On all Si arms, maybe remove the code to skip encoder preload if the encoder preloads are all at mid-point. There is no significant speed up in homing on Si arms.
In Pot calibration, make sure 33.333 comes from a library (sawRobotIO) and is used in mtsRobot1394 to make sure pot values read are not "missing" values from calibration. If "missing" is found during operation, send message re. maybe wrong lookup file.
In XML parsing, compare serial number on top of file with lookup table file name to make sure the same serial number is used.
Check if we can use lower pot tolerance in position.