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grip sensor support

Amy Blank requested to merge feature/grip-sensor-support into devel

Description

  • grip sensor support
  • grip sensor test program
  • removed some deprecated code
  • updated gains for beta teneo (they should be pretty soft now; they can probably be made a little stiffer with more careful tuning)
  • ability to set grip sensor calibration in ConfigureParameters
  • move gravitycal points off joint stops

Note: Gravitycal is currently not doing a good job with the v3 system; the drift is much worse than usual. Will address this issue later once we get the new mainboard configuration set in the firmware.

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Related merge requests

  • burt/firmware/burt-firmware!385
Edited by Brian Zenowich

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