Subscribe ~limit topic, and target position set to detected position.
and duty set to 0 when the servo reached to limit. To set duty 0, the servo oscillate near by bound of enternal sensor.
fix #88
Calibrate servo using the external sensor. (reference #87)
If you calibrate with lower limit position, please be aware that starting the system with the upper limit detected is not intended.
In addition to, add strict mode to calibration using the external sensor.
servo/calibration_strict_current and servo/calibration_strict_duty are added to rosparam.
These values will be used for recalibration after initially calibrating with servo/calibration_current or servo/calibration_duty. If not specified, the calibration will only be performed using servo/calibration_current or servo/calibration_duty as before.
Change Summary
Subscribe
~limittopic, and target position set to detected position.and duty set to 0 when the servo reached to limit.To set duty 0, the servo oscillate near by bound of enternal sensor.Calibrate servo using the external sensor. (reference #87) If you calibrate with lower limit position, please be aware that starting the system with the upper limit detected is not intended. In addition to, add strict mode to calibration using the external sensor.
servo/calibration_strict_currentandservo/calibration_strict_dutyare added to rosparam. These values will be used for recalibration after initially calibrating withservo/calibration_currentorservo/calibration_duty. If not specified, the calibration will only be performed usingservo/calibration_currentorservo/calibration_dutyas before.Details
Impacts
References
Additional Information