Wrist physical tripod cannot be controlled in velocity

robotology / cer

Contains SW specific to the R1 robots

GNU General Public License v2.0

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Wrist physical tripod cannot be controlled in velocity #50

Closed pattacini closed 8 years ago

pattacini commented 8 years ago

As per the title, the physical tripod interface of the wrist doesn't allow any velocity control, whereas the position-direct mode is perfectly working.

We didn't experience any trouble with commanding the physical tripod of the torso in velocity, though.

cc @randaz81

ale-git commented 8 years ago

Fixed. The setVelocity command wasn't refreshing the timeout value on Rx. The bug was already fixed, but the fw wasn't updated in the forearms as it was in the torso.