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Track total joint movement #105

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JamesNewton opened this issue Sep 22, 2020 · 0 comments
Open

Track total joint movement #105

JamesNewton opened this issue Sep 22, 2020 · 0 comments
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enhancement New feature or request Firmware Related to DexRun.c

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@JamesNewton
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To schedule regular maintenance we need to track the total amount of motion on each joint.

Possible method:

In DexRun.c,

  • new array joint_odo[NUM_JOINTS]
  • load joint_odo from odometer.txt on startup. e.g. setDefaults(DefaultMode);
  • in int MoveRobot( and int moveRobotPID(
    • Add abs(joint movement) to joint_odo
  • When socket closes close(connfd) and program end
    • Write joint_odo to odometer.txt

The closing of the socket seems like a good indication that the job is done and no more motion will happen for a while. Each job should run for at least several seconds, if not minutes, and so it shouldn't wear out the SD Card (?)

@JamesNewton JamesNewton added enhancement New feature or request Firmware Related to DexRun.c labels Sep 22, 2020
@JamesNewton JamesNewton self-assigned this Sep 22, 2020
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Labels
enhancement New feature or request Firmware Related to DexRun.c
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