Add Motor Temperature to stateExt and Convert PWM to Float#3188
Add Motor Temperature to stateExt and Convert PWM to Float#3188randaz81 merged 3 commits intorobotology:masterfrom
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GiulioRomualdi
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traversaro
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Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update the release notes by adding a file in |
randaz81
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Component: Library - YARP_dev
Component: Library - YARP_sig
Component: Devices
Type: Breaking/Behaviour Change
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Note Since this PR will not be merged into YARP soon (the next YARP release is expected in the coming months), I have already prepared two branches that can be used in YARP to collect the temperature using this feature:
Please note that this modification is a breaking change, as it alters the structure of |
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- Stream the motor temperature as float - modify the PWM to be streamed as float
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Do we need to update the robometry documentation after this merge? |
It was already updated. We probably just need to remove the warning about the problem of working on a specific yarp branch. So yes. |
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After a discussion with @randaz81 and @traversaro, we decided to add motor temperature data to
stateExt, streamed as a vector of floats. To avoid increasing the message size, we also decided to convert the PWM data from a vector of doubles to a vector of floats.This pull request introduces several changes to the
RemoteControlBoardand related components to support temperature data. The modifications affect data structures, methods, and interfaces to handle temperature readings properly.The PR consists of two commits:
float32conversion inBottle. Without this, reading from thestateExtport results in the following error:Note
I also regenerated the
jointData.cppandjointData.hto be compliant with the new thrift