2FOC V3.6 firmware Released

[ale-git]

Hi, the new 2FOC firmware is available here.

Features are:

• improved current sensing with self calibration at startup
• improved heuristics on fault detection
• temperature sensor support (yarprobotinterface support coming soon)
• motor encoder >16 bit resolution support
• smoother phase transition in HALL+QE robots
• solves the problem of autocalibration messages masked by the protocol
• back compatible with V3.3

Notice: it requires only one change in the motorControl/*service.xml files: now the motor encoder resolution must be the counts per revolution provided by the encoder sensor before the 2FOC 4x interpolation. For example, the 14400 value written in the 3.3 configuration files becomes 3600 in the 3.6 configuration files.

[pattacini]

cc @robotology/everyone