[Braccio_Record_and_Replay] Show stop sign when joint enters dead zone. #75
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Memory usage change @ 90df695
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@aentinger The image appears correctly in the Record mode, but only for the base and wrist roll movements. For the other joints, the stop image did not appear; is it correct? |
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Yes, this is correct. The other joints have been mounted in such a way that is mechanically impossible for the user to move the servo into an invalid position. |
Esquirio
approved these changes
May 17, 2022
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@Esquirio Shall I align the example within the project tutorials too, i.e. copy over? @clodpheasant On this topic (keeping the tutorials code-identical with the replay/record and manual control sketch in the top level |
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I'll be merging this leaving the code within |
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I think yes, but first, it is necessary to check the issues with the Replay mode that I reported to you. |
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When a joint is entering a dead zone (between 315° and 360°) the application is now showing a big stop sign which shall communicate to the user that he should unwind his latest operation. Joint recording is paused as long as a joint is in the invalid zone. As soon as the user turns the joint to be within a valid range again the stop sign disappears.
This prevents the issue that a user is surprised why a replayed sequence does not exactly mirror the recorded one, given that the joint was within the dead zone during some samples.