> >> The dynamixel hardware drivers (both) do that, Mars::Servo also did > >> that, Mars::Joints is not. > > then maybe reimplemend this in your module > >> > >> This leads to a missing Sweep mode that can be set via .yml file. > > I'm sorry, if you need sweep functionallity in the long way, you/we > > need to create a sweeping task... > > Putting the sweep into MY module/task is imo a bad idea, that could result in > concurrent writes on the position, when more tasks (possibly from other > projects) want to set a position.
We did have this discussion a while ago. For various reasons I also agree, that it is better have the tasks separated. In spacebot we used a tilt_scan module https://gitorious.org/rock-slam/orogen-tilt_scan which sees the servo as a unit with the laser scanner. The interface::Servo should go and not be used again. Same as the drivers::Dynamixel. On the matter of removing them from the code now... At some point we have to remove them, but there should be a long enough transition period. Cheers, Jakob _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
