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poppy-project / poppy-torso

Poppy Torso is an open-source and 3D printed torso robot. Optimized for research and education purposes, its modularity allows for a wide range of applications and experimentations.
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Avoid motor block with safe compliance at startup #7

Closed show0k closed 9 years ago

jjehl commented 9 years ago

If I understand your changes, when the robot is in a strange position (I mean out of angles limit), the motors block ?

show0k commented 9 years ago

Exactly. The "safe" compliance is blocking motors if they go out of range. But if the motor start out of range, it will sometimes be blocked and cannot return on the range. This is more a hack than a fix, it just reduces the occurrence of this issue. We should investigate more and change the safe compliance code.

jjehl commented 9 years ago

Maybe you can merge your request and after we'll merge the branch dev because the update I made about V-REP scene in dev branche is a big change we have to put on master (essential to use V-REP)

jjehl commented 9 years ago

Safe compliance was desactivate in an other commit, so I think we have no more needs to merge this request.