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shadow-robot / sr-ros-interface-ethercat

ROS driver for the Shadow Robot EtherCAT Hand.
GNU General Public License v2.0
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Solve a tactile sensor - position sensor problem #23

Closed toliver closed 11 years ago

toliver commented 11 years ago

During the tests, some kind of interference between the tactile sensor and the position sensor has been uncovered.

If the tactile sensor is plugged into a finger, the position sensors for that finger (e.g. LF1, LF2 and LF3) give a raw measurement of 0xFFF.

The tactile values are all set to 0xFAFA.

toliver commented 11 years ago

This is considered to be a problem with the firmware of the tactile sensor. It doesn't go to high impedance state when it's time to read the position sensor, and that causes the problem.

This will be fixed by a new version of their tactile sensor firmware. So it's not an obstacle for the hand delivery.