Closed PeterBowman closed 2 years ago
I'm introducing halt commands in legacy IP mode, so perhaps it should be reviewed once again in a broader context: https://github.com/roboticslab-uc3m/yarp-devices/commit/99b7f4119ff91fddcb91b1bf6d0194cda0f037cd.
I don't understand this issue anymore, one joint should not affect others regarding their internal state. I tried to reproduced the steps today and failed, everything works nicely. For now, I'm going to close this as invalid.
Steps:
launchCanBus
, enterpos
modevel
mode, leave others unchanged:set icmd cmod 5 vel
get icmd cmds
->[pos] [pos] [pos] [pos] [pos] [vel]
vel
commands via RPC, e.g.:set vmos (0 0 0 0 0 2)
pos
commands, e.g.set pos 4 -5
-> FAILSImplementation:
https://github.com/roboticslab-uc3m/yarp-devices/blob/31a33617549dcc5f2715b63876e95a3076bf87a1/libraries/YarpPlugins/TechnosoftIpos/IPositionControlRawImpl.cpp#L15-L25
Debug output tells absolutely nothing on return, so I presume this is caused by the "check halt bit" condition. See also:
https://github.com/roboticslab-uc3m/yarp-devices/blob/00187c32798536c0ea0ae2249b151c170b8c5493/libraries/YarpPlugins/TechnosoftIpos/IControlModeRawImpl.cpp#L97-L101
And:
https://github.com/roboticslab-uc3m/yarp-devices/blob/00187c32798536c0ea0ae2249b151c170b8c5493/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.cpp#L279-L285