Comments (3)
jpieper
commented on July 17, 2024
1
Agreed it doesn't make the most sense... when I first implemented support I thought it reported a 16 bit value. Now changing it would require adding upgrade logic in moteus_tool so as to not break systems on fw upgrade, which doesn't seem worth it.
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jpieper
commented on July 17, 2024
The intent was to have it use the 16 bit range. That shouldn't be a problem, as long as the CPR is configured correctly.
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matthieuvigne
commented on July 17, 2024
Ok makes sense thanks. To be honest I find it a bit weird to configure a cpr at 16 bits for a 14 bits encoder, but as you say it all works perfectly fine, so I guess in the end it's just a question of taste.
Closing this issue.
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