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jhu-dvrk / sawIntuitiveResearchKit

cisst/SAW stack for the da Vinci Research Kit (dVRK)
https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
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Turn on safety relay on all boards connected #21

Closed adeguet1 closed 3 years ago

adeguet1 commented 9 years ago

Can we turn on the safety relays on all boards connected to the firewire bus instead of just those used in mtsRobotIO1394? This way we could avoid re-wiring the e-stops everytime. This probably requires some changes in AmpIO?

pkazanzides commented 9 years ago

Should be simple to do. The FirewirePort object knows about all boards connected on the bus. So, in WriteAllBoards, you could issue quadlet writes to the other boards to set the safety relays the same way as the configured boards.

adeguet1 commented 3 years ago

We provide the command line tool qlacommand -c close-relays to close the safety relays before starting the application.