afdaniele/calibrator-9000

Firmwares and drivers for an Arduino-based 6-DOF calibration tool

calibrator-9000's Issues

Empty DATA escaping firmware

Sometimes a DATA packet leaves the firmware with all zeros.

Example output:

Axis: [x:0.9561111330986023, y:-0.2471461147069931, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:-0.0861872136592865, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9572222232818604, y:0.054569654166698456, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9572222232818604, y:0.1659272462129593, z:0.0, r:0.01578192226588726, p:0.0, w:0.0]
Axis: [x:0.9572222232818604, y:0.26530611515045166, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9561111330986023, y:0.3593611419200897, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.4516415297985077, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0, y:0, z:0, r:0, p:0, w:0]
Axis: [x:0.9566666483879089, y:0.6242235898971558, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.6969831585884094, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.7670807242393494, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.7910381555557251, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9572222232818604, y:0.793700098991394, z:0.0, r:0.01578192226588726, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.793700098991394, z:0.0, r:0.01578192226588726, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.7724046111106873, z:0.0, r:0.01578192226588726, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.7724046111106873, z:0.0, r:0.01578192226588726, p:0.0, w:0.0]

This is either an empty DATA packet that escapes the firmware or a failure in interpreting the payload on the drivers' side.

second call to `initialize()` sends the firmware in CALIBRATING mode

The first time I call initialize() after plugging in the device, the device goes in INITILIZING mode, which is correct since the knobs are calibrated (even though the X is not, but that is not implemented yet, issue 1).

If I then call initialize() again without unplugging the device, the firmware goes in CALIBRATING mode. This should not happen.

CALIBRATING mode when a fraction of knobs is already calibrated

When the device is initialized, the device loads the calibration file but it does not check which knobs are calibrated and which ones are not. Enabling x, and y with only y calibrated sends the device in INITIALIZING mode. It should go in CALIBRATING mode with x=UNCALIBRATED and y=UNITIALIZED.