alex-brinkman
commented
2 years ago Can you indicate which version of fastcat you are using?
I like your idea of dumping state on an EMCY code - though, It may not help as much as you might think.
- EMCY code-specific printing will be a large pain since there are over 45 EGD error codes (see
jsd/jsd_egd_types.h:jsd_egd_fault_code_t) So I probably won't echo all drive parameter values like the speed tracking faults and instead opt to just display a subset of parameters like cmd and actuator speeds. - The PDO-sampled velocity may not be the velocity seen by the ELMO drive itself when it triggered the fault since it runs far faster then the PDO exchange. This might cause you to scratch your head when the reported velocity is under the velocity tracking speed... just FYI
While commanded via CSP command, an actuator faults with speed tracking error. On fastcat configuration yaml, which suppose to overwrite parameters to Elmo motor driver, velocity tracking error is set to be higher than max speed, which means it will not cause tracking fault even in the case the motor is not moving at all when commanded for max velocity.
First, suggestion to printout what is commanded, actual velocity/position when tracking fault happens, if we can retrieve info from Elmo.