During the tests on the wrist of ergoCub, we noticed that the joints belonging to the joint set had the same control mode (HW-fault). With this PR, in case of error, each joint has its own control mode, so, for example, if an overcurrent occurs on one joint then it will be in hw-fault, while the others are in idle.
We already test this PR on the wrist setup successfully.
valegagge
commented
8 months ago
During the tests on the wrist of ergoCub, we noticed that the joints belonging to the joint set had the same control mode (HW-fault). With this PR, in case of error, each joint has its own control mode, so, for example, if an overcurrent occurs on one joint then it will be in hw-fault, while the others are in idle.
We already test this PR on the wrist setup successfully.