Multi-master and non-zero master support #175
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multiple masters compatibility added
…e_fault temperature error code check for zeroerr drives
stop drifting when the controllers are inactive
…tpc_sw add optional CONDA_PREFIX to Etherlab files path when build with Conda
add required header for correct build
1. Updated the ec_pdo_channel_manager.hpp file to incorporate the new limit parameters and apply them to the command interface values before sending them to the actuators. 2. Updated the Sphinx documentation to include descriptions of the new parameters in the configuration guide. 3. Modified the CST versions of the actuator YAML configuration files for the eRob70F, eRob80F, eRob90F, eRob142F and their reverses to include peak_upper_limit, peak_lower_limit, and peak_limit_multiplier parameters for the effort command interface. This change is done in the hmnd repository where this repo is a submodule. 4. Verified changes by running and testing with hardware.
Added limits functionality for command interfaces
-- check `is_operational` in the condition when setting current to the target position
…g_at_wakeup [RIM-9] Fix Joint Dropping Issue After Breake Release
add `is_operational()` getter for ethercat driver
Fixed CiA402 initialized function
This reverts commit e0f55dd.
Revert "Fixed CiA402 initialized function"
Feature/trigger error to all
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master_member ofEthercatDriverclass is static and ignored any masted_id values in config except default 0Changes:
master_changed to unique_ptr and initialized withmaster_idvalue from config (or 0 by default)Tests: