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micander / atrias

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Right Leg encoder values freeze on biped 3 #170

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
When moving the A section of the right leg on biped 3, if the leg is moved too 
quickly the leg position will freeze on the GUI. It will not begin moving again 
until the leg is returned to the position it stopped moving. I can't see what 
is actually happening to the data, but I'm guessing RT-Ops is doing something.

Original issue reported on code.google.com by kit...@gmail.com on 4 Mar 2013 at 7:59

GoogleCodeExporter commented 9 years ago 
Actually, the medulla drivers do this. If the value from the encoders change 
too much in one step, then it (the LegMedulla object) will assume that value is 
erroneous and continue outputting the previous value until the encoder's 
reported value returns to a value close to the value it originally changes from.

You can see the code in LegMedulla.cpp (I'll point out the line as soon as I 
can, my internet is just unreliable right now).

Original comment by jrvanwhy on 4 Mar 2013 at 8:23

GoogleCodeExporter commented 9 years ago 
This turned out to be a problem with the menial board. Replacing the menial 
board fixed it.

Original comment by kit...@gmail.com on 9 Mar 2013 at 7:20