Support for externally geared motor

[anderwm]

I don't see any way to accomplish this with parameters alone. Is is reasonable to add an "external gear ratio" parameter (in controllers) and multiply the xxx_per_encoder_ticks parameters accordingly?

[Booooooosh]

Same question here, seems that if I want to use the external encoder, which represent the actual joint position, I should modify the code. And apart from that, seems that I shall change the motor into wheel mode in order to control the joint since I have a external gear.

Anyone had solved this problem?

[anderwm]

I did it the way I suggested, but my ratio was only 4:1 so I didn't have to use wheel mode.

[Booooooosh]

But the limit of the motor is -150 deg to 150 deg, which means your joint angle can only rotate from -37.5 deg to 37.5 deg?

[anderwm]

The motors I was using went +-2π, so with 4:1 I got +-45 degrees, which was all I needed. MX series.

…

On Jun 18, 2017 3:35 PM, "Booooooosh" ***@***.***> wrote: But the limit of the motor is -150 deg to 150 deg, which means your joint angle can only rotate from -37.5 deg to 37.5 deg? — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#55 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ABN7cQc6QmV0LDJ-8F3KK5OgAhn8Ri4yks5sFYoOgaJpZM4I_GVv> .

[Booooooosh]

Cool!
Thx anyway.