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jiahan / atrias

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Motor angle limits are not effective when both motors reach the limits (e.g., in the stance phase) #27

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
The motor angle limits warn any one motor before it reaches its hard stop.

However, when both motors are moving to pull the leg up, the effective range of 
motion of each motor is decreased because the two parts collide.

We need a way to keep this from happening. (Limit the sum of the two angles, 
perhaps?)

Original issue reported on code.google.com by yoos117@gmail.com on 22 Oct 2011 at 12:42

GoogleCodeExporter commented 8 years ago 
There might be something we can do to have the EtherCAT master coordinate 
communication between Medullas (or for itself to be the method of 
communication).

Original comment by yoos117@gmail.com on 25 Oct 2011 at 4:07

GoogleCodeExporter commented 8 years ago 
This problem cannot be solved in the medulla firmware level. We will have to 
implement safety modules in the master code to protect against this problem.

Original comment by kit...@gmail.com on 9 Jul 2012 at 7:31

GoogleCodeExporter commented 8 years ago

Original comment by kit...@gmail.com on 9 Jul 2012 at 7:31