Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix(gripper): capacitive sensor task should use correct sensor ID #781

Merged
merged 2 commits into from
Aug 1, 2024
Merged

fix(gripper): capacitive sensor task should use correct sensor ID #781

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
1b65ab8
make sure we are setting sensor id
ahiuchingau May 21, 2024
64268c1
old use of shared_sensor
caila-marashaj Aug 1, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 12 additions & 7 deletions include/sensors/core/tasks/capacitive_driver.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -69,14 +69,19 @@ class FDC1004 {
auto get_sensor_id() -> can::ids::SensorId { return sensor_id; }

auto set_sensor_id(can::ids::SensorId _id) -> void {
if (using_both_sensors && sensor_id != _id) {
if (_id == can::ids::SensorId::S1) {
measure_mode = fdc1004::MeasureConfigMode::TWO;
} else {
measure_mode = fdc1004::MeasureConfigMode::ONE;
}
if (sensor_id != _id) {
// we should always update the sensor id
sensor_id = _id;
update_capacitance_configuration();
if (using_both_sensors) {
// if we're sharing the sensor, then we need to update
// the measure mode
if (_id == can::ids::SensorId::S1) {
measure_mode = fdc1004::MeasureConfigMode::TWO;
} else {
measure_mode = fdc1004::MeasureConfigMode::ONE;
}
update_capacitance_configuration();
}
}
}

Expand Down
Loading