Update the dynamometer tool for newer firmwares

mjbots · Jan 31, 2023 · 3578e72 · 3578e72
1 parent 0d76d71
commit 3578e72
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Showing 2 changed files with 1 addition and 4 deletions.
diff --git a/utils/dynamometer_drive.cc b/utils/dynamometer_drive.cc
@@ -209,7 +209,7 @@ class ServoStatsReader {
     // Here we verify that the final and total timer are always valid.
     if (result.final_timer == 0 ||
         result.total_timer == 0 ||
-        result.final_timer > 3900 ||
+        result.final_timer > 3910 ||
         result.total_timer < 5000) {
       throw mjlib::base::system_error::einval(
           fmt::format("Invalid timer final={} total={}",

diff --git a/utils/moteus_subset.h b/utils/moteus_subset.h
@@ -66,8 +66,6 @@ struct ServoStats {
 
   PidPosition pid_position;
 
-  std::optional<int64_t> control_position;
-
   uint32_t final_timer = 0;
   uint32_t total_timer = 0;
 
@@ -85,7 +83,6 @@ struct ServoStats {
     a->Visit(MJ_NVP(velocity));
 
     a->Visit(MJ_NVP(pid_position));
-    a->Visit(MJ_NVP(control_position));
 
     a->Visit(MJ_NVP(final_timer));
     a->Visit(MJ_NVP(total_timer));