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uArm-Developer / UArmForArduino

Arduino uArm Metal Library (uArm Metal only)
http://uarm-developer.github.io/UArmForArduino
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(V2.1) The Set raw/offset and read raw/offset outputs the same results #30

Open apockill opened 8 years ago

apockill commented 8 years ago

Bug: The "set angle raw" and "set angle with offset offset" and "read angle raw" and "read angle with offset" seem to return the same results, when there should be some offset.

Expected Result: The [gSer] and [gAng] should give different numbers for the same position. Why don't they?

Steps to reproduce: Here are the inputs/outputs from my log [sSerN0V80] -> [S] [gAng] -> [SB82.44L90.04R58.52Hnan] [gSer] -> [SB82.80L90.04R58.52Hnan] [sSerN0V100] -> [S] [gAng] -> [SB103.68L90.04R58.52Hnan] [gSer] -> [SB103.68L90.04R58.52Hnan] [sAngN0V80] -> [S] [gAng] -> [SB82.80L90.04R58.52Hnan] [gSer] -> [SB82.80L90.04R58.52Hnan] [sAngN0V100] -> [S] [gAng] -> [SB104.76L90.04R58.52Hnan] [gSer] -> [SB104.76L90.04R58.52Hnan]

yuntian1019 commented 8 years ago

Fixed in version 2.1.1 [gAng] should return the ideal angles and [gSer] return the real angle in servo. The difference between them is [gAng] accout the assembly offsets.