Open tongtybj opened 2 years ago
The flag https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/master/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/config.h#L31 is too inconvenient.
We need an automatic judging process for the connection with neurons, according to the response of initialization request, which is in turn became the number of servo. Please check https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/master/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.cpp#L144-L160.
HAL_Delay
The flag https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/master/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/config.h#L31 is too inconvenient.
We need an automatic judging process for the connection with neurons, according to the response of initialization request, which is in turn became the number of servo. Please check https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/master/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.cpp#L144-L160.
HAL_Delayin IMU init process to read flashmemory for IMU calib data => shift the calib data to neuron. Check https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/master/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.cpp#L194-L201