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robotology / icub-firmware

iCub Firmware
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Revert the PR 459. AMC ver 1.11 #461

Closed valegagge closed 9 months ago

valegagge commented 9 months ago

Now the joints belonging to the same jointset go in HW if one of them is in HW fault

valegagge commented 9 months ago

I convert this PR in a draft just to test it on a wrist (robot o setup)

pattacini commented 9 months ago

Thanks heaps @valegagge 👍🏻

We said internally that to investigate which of the underlying motors caused the HF, one can retrieve relevant information straight from the logger, whereas the the yarpmotorgui will show generic messages associated with the joints.

In the future, we can enrich our diagnostics shown within the yarpmotorgui to also consider low-level motor info.

valegagge commented 9 months ago

We tested this FW on the wrist on bench. We verified that if we disconnect one CAN board, all three joints go in HW-fault. If we reconnect the cable and give the idle command, all the three joints go in position control mode. I gonna put this pr in ready.

Thank you very much to @simeonedussoni for the tests!!!! ❤️

marcoaccame commented 9 months ago

i gonna merge