Improvement in 2FOC fw and improved quadrature_encoder diagnostic #503
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Improvements of 2foc:
the I2C bus is configured to work with 100KHz speed and has some fixes in the reset procedure. More details here.
the rotor/stator calibration procedure is not more HW dependent but can run successfully on different motors. More details here.
the information regarding the quadrature encoder diagnostic has been improved. More detail here
The EMS and the other ETH boards manage the quadrature encoder diagnostic in a more user-friendly way: they count the number of errors instead of downsampling the error rate to make the final user aware of how many errors there are on a given encoder and therefore proceed with the maintenance accordingly.
This change need the change on icub-main also : PR (TBD)
cc @MSECode