[Personalrobots-commit] SF.net SVN: personalrobots:[5981] pkg/trunk

[<rob...@us...>]

Revision: 5981
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5981&view=rev
Author:   rob_wheeler
Date:     2008-10-30 01:15:50 +0000 (Thu, 30 Oct 2008)

Log Message:
-----------
Support updated MCB firmware which fixes a bug in the calibration sensor reading.

Modified Paths:
--------------
    pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp
    pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/wg0x.h
    pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp	2008-10-30 01:09:28 UTC (rev 5980)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/caster_calibration_controller.cpp	2008-10-30 01:15:50 UTC (rev 5981)
@@ -111,7 +111,7 @@
     break;
   case BEGINNING:
     original_switch_state_ = actuator_->state_.calibration_reading_;
-    cc_.steer_velocity_ = (original_switch_state_ ? search_velocity_ : -search_velocity_);
+    cc_.steer_velocity_ = (original_switch_state_ ? -search_velocity_ : search_velocity_);
     state_ = MOVING;
     break;
   case MOVING: {

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp	2008-10-30 01:09:28 UTC (rev 5980)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_calibration_controller.cpp	2008-10-30 01:15:50 UTC (rev 5981)
@@ -123,7 +123,7 @@
     break;
   case BEGINNING:
     original_switch_state_ = actuator_->state_.calibration_reading_;
-    vc_.setCommand(original_switch_state_ ? search_velocity_ : -search_velocity_);
+    vc_.setCommand(original_switch_state_ ? -search_velocity_ : search_velocity_);
     state_ = MOVING;
     break;
   case MOVING: {

Modified: pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/wg0x.h
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/wg0x.h	2008-10-30 01:09:28 UTC (rev 5980)
+++ pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/wg0x.h	2008-10-30 01:15:50 UTC (rev 5981)
@@ -174,8 +174,8 @@
   uint16_t num_encoder_errors_;
   uint8_t encoder_status_;
   uint8_t calibration_reading_;
+  int32_t last_calibration_rising_edge_;
   int32_t last_calibration_falling_edge_;
-  int32_t last_calibration_rising_edge_;
   uint16_t board_temperature_;
   uint16_t bridge_temperature_;
   uint16_t supply_voltage_;
@@ -256,8 +256,10 @@
 
   enum
   {
-    LIMIT_SENSOR_0_STATE = 1, LIMIT_SENSOR_1_STATE = 2,
-    LIMIT_OFF_TO_ON = 4, LIMIT_ON_TO_OFF = 8
+    LIMIT_SENSOR_0_STATE = (1 << 0),
+    LIMIT_SENSOR_1_STATE = (1 << 1),
+    LIMIT_ON_TO_OFF = (1 << 2),
+    LIMIT_OFF_TO_ON = (1 << 3)
   };
 
   enum

Modified: pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp	2008-10-30 01:09:28 UTC (rev 5980)
+++ pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp	2008-10-30 01:15:50 UTC (rev 5981)
@@ -199,7 +199,7 @@
 
   if (sh_->get_product_code() == WG05::PRODUCT_CODE)
   {
-    if (major != 1 || minor < 6)
+    if (major != 1 || minor != 7)
     {
       ROS_FATAL("Unsupported firmware revision %d.%02d\n", major, minor);
       ROS_BREAK();


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