Parametrized Wrist decoupler and aea3 support in AMC board #424
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…wrist_decoupler library
… also in non wrist configuration.
Removed wrist project
This was referenced Oct 10, 2023
Add ergocubwrist constraint in the joint mechanical specification
robotology/icub-firmware-shared#88
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EMS 1.76, AMC 1.1, MC2PLUS 3.58, MC4PLUS 3.79
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marcoaccame
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Hi @valegagge, the changes are OK. Thanks.
The amc w/ the decoupler works on the setup and it is very useful to have the amc single project. I used it for some tests I had to do where the decoupler is not called and it works fine.
We wait till next week to complete the evaluation of execution duration of the decoupler and we shall merge afterwards.
Today @valegagge @sgiraz and I tested the |
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In this PR the main changes are:
Other details:
icub-firmware-wrist\emBODY\eBcode\arch-arm\board\amc\application\v1WRIST_MK2macro, only to avoid compiling the decoupler in the EMS board. It is important to notice that the wrist decoupler can be activated by software by configuring the correctjointset-constraintin the configuration filesWRIST_MK2macro has been added to activate the code related to the wrist decoupler. As said before, if we want to run the controller without the wrist decoupler, we don't need to remove theWRIST_MK2macro in the project, but only set the correct parameter in the configuration files. For more details see here Updated mechanical file in iCubTemplateV6_0 with the ergoCub wrist constraint robots-configuration#578Note
This is a personal note: I developed the code in order to make it completely configurable and, in general, I'm not a fan of MACRO in the code, but in this case, it's the faster and safer solution because of the RAM issue on EMS.