Runtime configuration of encoder port in the amc board
#531
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…s the encoder attached to the port specified in the xml files previously always used J5_X1 (aka ENCODER::one) for the first joint, J5_X2 (aka ENCODER::two) for the second and J5_X3 for the third nobody noticed because the xml files use J5_X1 / J5_X2 / J5_X3 in order and not mixed. updated application version of the amc
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This PR adds full runtime configuration of the encoder port in the
amcboard.In the
amcboard, the objecttheEncoderReaderso far has used the encoder plugged in portJ5_X1for the first joint (and in generalJ5_Xifor the i-th joint) irrespectively of what is written in the xml file.We noticed that when @SanLordKevin and I tested
yrion thelego setup(xml files in here) with a change of the port of the encoder for the first joint. If we usedJ5_X2orJ5_X3for the first and only joint thenyridid not work.On
ergoCubthis problem does not happen because all the ports are used in order.Nevertheless that is a problem to be fixed.
So, this PR fixes it.
There is an associated PR for the binary:
This change affects only the
amcand has been extensively tested on thelego setupand can be safely merged.