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JointSet.c: put all the current targets to 0 when IDLE or HF #362

Merged
merged 3 commits into from
Apr 5, 2023
Merged

JointSet.c: put all the current targets to 0 when IDLE or HF #362

merged 3 commits into from
Apr 5, 2023

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sgiraz
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@sgiraz sgiraz commented Mar 31, 2023 •
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What's new:

  • in case of control mode IDLE or HF, force the target current to 0

Notes:

@sgiraz sgiraz requested a review from marcoaccame March 31, 2023 08:01
@sgiraz sgiraz self-assigned this Mar 31, 2023
@sgiraz sgiraz added the bugfix label Mar 31, 2023
@sgiraz
Add JointSet_do_off to set the references to ZERO when idle.
939242a 
- remove the previous workaround on `motor.c`
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Hi @sgiraz, I see that you have tested the changes and they are OK. Very well done.

So, you can surely change the versions of ems, mc4plus, mc2plus and amc and you can mark the PR ready for review. And then, of course, we need a PR for the binaries.

marcoaccame
marcoaccame requested changes Apr 4, 2023
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See #362 (comment)

Hi @sgiraz, I see that you have tested the changes and they are OK. Very well done.

So, you can surely change the versions of ems, mc4plus, mc2plus and amc and you can mark the PR ready for review. And then, of course, we need a PR for the binaries.

@sgiraz sgiraz marked this pull request as ready for review April 4, 2023 13:54
@sgiraz sgiraz mentioned this pull request Apr 4, 2023
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@marcoaccame marcoaccame merged commit 5cf9dd1 into robotology:devel Apr 5, 2023
@sgiraz sgiraz changed the title Motor.c: put all the current targets to 0 when IDLE or HF JointSet.c: put all the current targets to 0 when IDLE or HF Apr 11, 2023
valegagge pushed a commit to valegagge/icub-firmware that referenced this pull request May 5, 2023
@sgiraz @valegagge
Motor.c: put all the current targets to 0 when IDLE or HF (robotology…
6cf5b0f 
…#362)
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@marcoaccame marcoaccame marcoaccame approved these changes

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@sgiraz @marcoaccame