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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) [gCrd] does not work when servos are detached #31

Open apockill opened 7 years ago

apockill commented 7 years ago

Bug: The [gCrd] command does not work when the servos are detached- it only returns the last known position.

Expected Result: If I have all of the servos detached, and I move the robot, I should get the current location of the end effector even if the servos are detached and the robot has been moved.

Steps to reproduce bug: 1) Unplug robot from power and computer. 2) Plug the robot into power and computer 3) Enter "[gCrd]", record response. I got: "[SX-95.83Y0.00Z145.10]" 4) Enter "[sDetN0][sDetN1][sDetN2][sDetN3]" 5) Move the end effector to a different location 6) Enter "[gCrd]". I got "[SX-95.83Y0.00Z145.10]", which is the same thing that I got in step 3 even though the robot was moved.

yuntian1019 commented 7 years ago

Fixed in vertion 2.1.1.
2.1.0 return the position of last move.