From 3e3ce835ff588846bdf6b174e843f731b6400ff6 Mon Sep 17 00:00:00 2001 From: Jacopo Date: Mon, 28 Oct 2024 15:15:44 +0100 Subject: [PATCH] Substitute motor encoder position with raw trajectory in raw values --- .../ems004/appl/v2/src/eoappservices/EOtheMotionController.c | 2 +- emBODY/eBcode/arch-arm/embobj/plus/mc/Joint.c | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOtheMotionController.c b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOtheMotionController.c index 9bf6f9f908..4b883b82da 100644 --- a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOtheMotionController.c +++ b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOtheMotionController.c @@ -1669,7 +1669,7 @@ static eOresult_t s_eo_motioncontrol_updatedPositionsFromEncoders(EOtheMotionCon if(NULL != (jstatus = eo_entities_GetJointStatus(eo_entities_GetHandle(), i))) { jstatus->addinfo.multienc[0] = rawValsArray.rawvalues[0].val; - jstatus->addinfo.multienc[1] = rawValsArray.rawvalues[1].val; + //jstatus->addinfo.multienc[1] = rawValsArray.rawvalues[1].val; for now do not update the raw value for the motor encoder since we are adding to it the raw planned target --> see lines 292..294 in Joint.c jstatus->addinfo.multienc[2] = rawValsArray.rawvalues[0].diagnInfo; } diff --git a/emBODY/eBcode/arch-arm/embobj/plus/mc/Joint.c b/emBODY/eBcode/arch-arm/embobj/plus/mc/Joint.c index 67f7069713..f60d09f41b 100644 --- a/emBODY/eBcode/arch-arm/embobj/plus/mc/Joint.c +++ b/emBODY/eBcode/arch-arm/embobj/plus/mc/Joint.c @@ -288,7 +288,10 @@ void Joint_update_status_reference(Joint* o) default: ; } - + + // Debug for temporary adding the raw planned target position to the motor encoder value which + o->eo_joint_ptr->status.addinfo.multienc[1] = (int32_t)Trajectory_get_target_position(&(o->trajectory)); + //ends here } static void Joint_send_debug_message(const char *message, uint8_t jid, uint16_t par16, uint64_t par64)