Fixed wrist flex incorrect calibration for LeKiwi #1787
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wrist_flex is not full_turn_motor (it has only a 180-degree range) and should be calibrated like in so_100, only wrist_roll is a full turn motor Signed-off-by: Ilia Larchenko <[email protected]>
imstevenpmwork
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Currently, all motors that have
wristin their name are treated as full-turn motors during calibration of LeKiwi (unlike for so-100 wher onlywrist_rollis treated like this). Butwrist_flexis not a full_turn_motor (it has only a 180-degree range) and should be calibrated; onlywrist_rollis a full-turn motor.As a result, wrist_flex on LeKiwi is moving to an angle that is 2 times bigger than the actual action.
What this does
It simply includes only
wrist_rollin the list offull_turn_motors, but notwrist_flexHow it was tested + How to checkout & try? (for the reviewer)
Calibrate LeKiwi and try to control it using so arm. The current main version will incorrectly control wrist_flex: e.g. when it is 45 degrees for the Leader arm, it will be 90 for the Follower.
If you calibrate LeKiwi with the fixed logic, it will be fine.