From 037e2bf932c3753c556147c3e6060ea62ee8943b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Mon, 8 Aug 2016 17:06:17 +0200
Subject: [PATCH] Solved a bug that made the robot shake after initialization.
The default compliance slope value was 32 instead of 5 which gave the maximum
control slope to the servos and any small position error made them oscillate.
---
motion/src/motion_manager.c | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/motion/src/motion_manager.c b/motion/src/motion_manager.c
index 9c88856..dc3dc78 100644
--- a/motion/src/motion_manager.c
+++ b/motion/src/motion_manager.c
@@ -185,7 +185,7 @@ uint8_t manager_init(uint8_t num_servos)
manager_servos[i].center_value=0;
manager_servos[i].current_value=0;
manager_servos[i].module=MM_NONE;
- manager_servos[i].slope=32;
+ manager_servos[i].slope=5;
manager_servos[i].cw_limit=0;
manager_servos[i].ccw_limit=0;
}
@@ -207,7 +207,7 @@ uint8_t manager_init(uint8_t num_servos)
manager_servos[id].current_value=get_current_position(id);
get_angle_limits(id,&manager_servos[i].cw_limit,&manager_servos[id].ccw_limit);
manager_servos[id].module=MM_ACTION;
- manager_servos[id].slope=32;
+ manager_servos[id].slope=5;
manager_num_servos++;
}
else if(model==0x0C00)// Emmulated servos from the expansion board pan&tilt servos
@@ -220,7 +220,7 @@ uint8_t manager_init(uint8_t num_servos)
manager_servos[id].current_value=get_current_position(id);
get_angle_limits(id,&manager_servos[i].cw_limit,&manager_servos[id].ccw_limit);
manager_servos[id].module=MM_JOINTS;
- manager_servos[id].slope=32;
+ manager_servos[id].slope=5;
manager_num_servos++;
}
}
--
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