Commit 89e498b4 authored by Silvia Shen's avatar Silvia Shen
Browse files

update the function of burt-util elbow calibrate

parent 88a74557
Pipeline #15059 failed with stage
in 8 minutes and 22 seconds
# Change Log
All notable changes to this project will be documented in this file.
This project adheres to [Semantic Versioning](http://semver.org/).
## [1.1.1]
1, update the function of burt-util elbow calibrate. Store calibration result into different OD address to fix the bug of "Handness was known".
## [1.1.0]
-1, elbow status命令,新增了读出信号,leftHall,rightHall, Pos.Thresh, Neg.Thresh
2,mainbard inpsection命令,升级了coap检测部分->在检测前降低主板loop rate,防止其overwhelm电脑的USB插口
......
......@@ -88,14 +88,19 @@ def calibrate(ctx, id, verbose):
calibration[sensor]["polarity"] = int(
(calibration[sensor]["mean"] > 32768 and 2) or 1)
click.echo("\nCalibration values for Elbow Board")
pprint.pprint(calibration)
continue_prompt("Calibrate Elbow Board?")
for sensor in ["rhand", "lhand"]:
for sensor in ["rhand"]:
utils.send_sdo(
id, (0x3502, int(calibration[sensor]["polarity"])),
"UNSIGNED16", int(calibration[sensor]["mean"]))
for sensor in ["lhand"]:
utils.send_sdo(
id, (0x3502, int(calibration[sensor]["polarity"])+3),
"UNSIGNED16", int(calibration[sensor]["mean"]))
utils.save_eeprom(id)
echo_banner("Successfully Calibrated Elbow", fg="green")
......
#!/usr/bin/env python3
__version__ = "1.1.0"
__version__ = "1.1.1" #change elbow calibrate
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