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[UFE] Low Cost Burt Features

Craig McDonald requested to merge feature/lcb-features into devel-ufe

Description

Brought into devel-ufe the low-cost Burt features that were just merged into devel, so we can start developing with the lcb firmware (branching off of version 6.5.0).

Made some updates to the ConfigurationFileTest to make it up to date with lcb firmware. Also renamed the BurtConfiguration class to BurtDefaultConfiguration.

Updated how we initialize the dynamics calculations for disturbance observer in a way that makes more sense thanks to some feedback from BZ (see RobotController.cs changes). All of the parameters that can be read out of the EEPROM are used by default, meaning just the inertial parameters need to be provided by the special BurtDefaultConfiguration class. Then, for development purposes, we can update the dynamics parameters for a particular robot controller with values from config files. This is all demonstrated with the DisturbanceObserverTest program.

Fixed the FirmwareEncoderFilterTuning program to work for LCB firmware. Made some improvements and added data plotting while I was at it.

What to focus on

  • Check that Manufacturing programs and Examples are functioning with versions 6.4.0 and 6.5.0 of the mainboard firmware.
  • Use the Sandbox program ConfigurationFileTest to see that the API is working for both firmware versions.
Edited by Craig McDonald

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