feature: lift reverse? and centering offset into transmission blocks#19
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jimsynz wants to merge 1 commit into
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feature: lift reverse? and centering offset into transmission blocks#19jimsynz wants to merge 1 commit into
jimsynz wants to merge 1 commit into
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…ission blocks Ran `mix bb_servo_feetech.upgrade` against the robot module. For each joint with reverse?: true, the upgrader inserted a transmission block with reversed? true. The shoulder_lift (lower -10°/upper 190°) and elbow_flex (-187°/7°) joints got explicit offset values (90° and -90° respectively) preserving the auto-centering the Feetech actuator used to derive from those limits internally. Refs: beam-bots/bb#108
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Companion PR to beam-bots/bb#110 and beam-bots/bb_servo_feetech#28.
Summary
Ran `mix bb_servo_feetech.upgrade` against the robot module. For
each joint with `reverse?: true`, the upgrader inserted a
`transmission` block with `reversed?(true)`. The shoulder_lift
(`lower -10°/upper 190°`) and elbow_flex (`-187°/7°`) joints got
explicit `offset` values (`90°` and `-90°` respectively) preserving
the auto-centering the Feetech actuator used to derive from those
limits internally.
Depends on
<transmission>in the BB DSL bb#110reverse?, move to motor-space bb_servo_feetech#28Test plan
the same direction as before