[Neuron][Servo][Encoder] automatically detect the servo pulley skip error #545
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…aused in exteranl pulley
…ip"; Make the thresh of servo_puelly_skip reconfigurable using the ros rqt system
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…g LPF in the internal offset between exteranl and internal encoders
…e in servo reboot mode
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…rnal/internal encoder
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What is this
By using the gap between the iternal encoder inside the dynamixel servo and the external magnetic encoder, the servo pulley skip error can be detected with a skip threshold.
Detail
If the pulley skip is detected, the power of the servo will be stopped until the neuron board is reboot. The
pulley_skip_errorcan be confirmed from rqt UI (board config), and the board can be also rebooted from the same rqt UI.