Skip to content

Low Cost Burt Support

Craig McDonald requested to merge devel-low-cost into devel

Description

A few of the Manufacturing and Sandbox programs---CheckJointRange, FrictionCalibration, FirmwareVelocityFilterTuning, and ForceOutputTest---just needed to add the bit for haptic elbow stop to the temporary storage of the enabled systems. This extra bit needs to be set to false if we are setting the EnabledSystems for the older firmware version.

JointCalibration has some vestigial code for an automated version that was never completed, and I will try to clean that up in the UFE version. My changes here were just to clearly separate out the manual version that we actually use from that automated version.

RobotGravityCalibration and PointToPointCheckout have different gain options and config files for when we have low cost hardware.

What to focus on

  • Do Manufacturing and Example programs work with both standard and low-cost firmware.
  • Look for potential breaks in compatibility with older firmware.
Edited by Craig McDonald

Merge request reports