Reading and using joint encoders with 3rd USB board

uw-biorobotics / raven2

Raven II Surgical Robot

http://brl.ee.washington.edu/

GNU Lesser General Public License v3.0

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Reading and using joint encoders with 3rd USB board #24

Closed awlewi closed 6 years ago

awlewi commented 6 years ago

A third USB board can be specified and opened to read three joint encoders on each arm. These are specifically set up for systems made by Applied Dexterity in Spring 18, but should be compatible with future joint encoder packages. Testing was carried out at UVA in March 2018.

awlewi commented 6 years ago

No major functionality changes, just passive data additions. Code has been used successfully at Applied Dexterity and UVA. Further functionality for kinematics calculations and joint-level control are still open.