More accurate main loop timing at the expense of CPU usage#76
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justincmfong merged 1 commit intoUniMelbHumanRoboticsLab:masterfrom Jan 22, 2025
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…test on RT kernel.
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Includes three main changes: - Addition of both new platform and Demo state machine for the FIT-HV waist exoskeleton from ULS robotics; - Addition of a StateMachineTemplate and associated script to ease creation of new state machines; - Switch to C++ 17 to avoid Eigen align vector issue at cross-compilation Also includes some minor code refactoring. Full list of commits: * More accurate main loop timing at the expense of CPU usage. (#76) * Updated README and documentation. Changed contact on README page Added some more details on hardware and use of BB (including existing information from all doc or doc not linked) State Windows dev. environemnt as deprecated/not recommended as not tested in a very long time Simplified (or tried to...) redundant information in getting started * Correct typos, commands and images in BeagleBone doc. page * Update spdlog to v1.12.0 for ROS2 Jazzy. Fix issue #77. * Fix bug and add option for Analog In in Drive * Template and script for new state machines creation * Minimal compilable NON functional FIT-HV implementation * Functional initialisation * Minimal position calibration and bug fix in FIT joint * Minimal velocity control ok. * Calibrated torque, pos and velocity * Added limits and safeties * Tuned friction compensation * Simple assistance (wall). Functional * FIT abs encoder implementation in progress * Re-organised CANDevice / Drive and added FITAbsEncoder * Switch to c++17 to avoid Eigen aligned vector issue on cross-compilation * FITAbsEncoder SDO reading * FITHV abs. encoder based calibration. Still to align. * FITHV comments * Network basic com and transitions * FITHV exo xcalibrated calibration * FITHVExo: handle failed calibration * Added quit command * FIT HV update change parameters. * Added simple model gravity comp. FITHV. Tested. * Added simple mvt amplification state and associated comms to FITHVDemoMachine * Set IP server to 0.0.0.0 to allow connections on both wired and wireless * Allow live update of parameters in FIT-HV demo machine. * Documentation, comments and cleanup of FITHVDemoMachine and associated code * Documentation formatting
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See #72 for details on improvement.