Calibration Issue with version 0.3.3
Issue #28
resolved
With the pump pressure lowered the right arm is consistently unable to hit the hard limit on the elbow joint until after the measurement has been made at which point it proceeds to slam the joint into the stop. This results in the arm calibration being wrong and the robot being lopsided. Attached is a video of the behavior described.
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@benjw90 This is due to a combination of two factors, one being that 1500 PSI isn't enough for both arms to reach their limits, and the other being that one of our shoulder joints is broken so we had a bad value for the hardstop in code to account for this so that our output encoders would still work. This may also interest @dkotfis.
I just pushed 0.3.4, which uses 2300 as the default pressure (which is sufficient for both arms to reach their hardstops in our testing) and we removed the hardstop hack.