Corrected temperature reading from CAN in MIT mode#4
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Mennosytsma wants to merge 3 commits intoneurobionics:masterfrom
Open
Corrected temperature reading from CAN in MIT mode#4Mennosytsma wants to merge 3 commits intoneurobionics:masterfrom
Mennosytsma wants to merge 3 commits intoneurobionics:masterfrom
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When trying the demo scripts using an AK60-6-V1.1 connected via a PEAK CAN UBS converter, all demo scripts gave an overtemperature error.
Looking into it more closely it seems that the temperature data is not scaled or anything after reading it from CAN, where most other values are transformed using the uint_to_float.
Page 39 of the TMotor manual specifies the limits for the messages in Servo mode, but for MIT mode this is not explicitly mentioned.
TMotor Manual
For my setup the limit values of 0 to 100 seem to give a decent reading of the room temperature upon startup of the motor.
I have also asked this question to TMotor. In their response they indicated that the temperature protection limit should be 140 degrees celcius and the temperature reading should just be substracted by 40 to obtain the temperature, which in my case results in an unrealistically low temperature for the room.
TMotor Manual Chinese